Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM

13 March 2019

Axel Barrau

Silvère Bonnabel

Papers citing "Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM"

23 / 23 papers shown

Title
Fault-Tolerant Multi-Modal Localization of Multi-Robots on Matrix Lie Groups Mahboubeh Zarei Robin Chhabra 72 0 0 01 May 2025
Affine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency Yang Song Liang Zhao Shoudong Huang 91 0 0 14 Dec 2024
An Observability-Constrained Magnetic Field-Aided Inertial Navigation System -- Extended Version Chuan Huang Gustaf Hendeby Isaac Skog 49 1 0 04 Jun 2024
On State Estimation in Multi-Sensor Fusion Navigation: Optimization and Filtering F. Zhu Zhuo Xu Xveqing Zhang Yuantai Zhang Weijie Chen Xiaohong Zhang 63 2 0 11 Jan 2024
navlie: A Python Package for State Estimation on Lie Groups C. C. Cossette Mitchell R. Cohen Vassili Korotkine Arturo del Castillo Bernal Mohammed Shalaby James R. Forbes 38 1 0 24 Oct 2023
Invariant Smoothing for Localization: Including the IMU Biases Paul Chauchat Silvère Bonnabel Axel Barrau 56 2 0 25 Sep 2023
Know What You Don't Know: Consistency in Sliding Window Filtering with Unobservable States Applied to Visual-Inertial SLAM (Extended Version) Daniil Lisus Mitchell R. Cohen James R. Forbes 72 7 0 13 Dec 2022
InGVIO: A Consistent Invariant Filter for Fast and High-Accuracy GNSS-Visual-Inertial Odometry Changwu Liu Chengping Jiang Haowen Wang 60 29 0 27 Oct 2022
Log-linear Error State Model Derivation without Approximation for INS Lubin Chang Yarong Luo LLMSV 31 25 0 06 Aug 2022
EqVIO: An Equivariant Filter for Visual Inertial Odometry Pieter van Goor Robert E. Mahony 95 33 0 04 May 2022
Toward Consistent and Efficient Map-based Visual-inertial Localization: Theory Framework and Filter Design Zhuqing Zhang Yang Song Shoudong Huang R. Xiong Yue Wang 90 12 0 26 Apr 2022
The Geometry of Navigation Problems Axel Barrau Silvere Bonnabel 66 31 0 12 Jan 2022
MEKF Ignoring Initial Conditions for Attitude Estimation Using Vector Observations Lubin Chang 39 1 0 26 Oct 2021
Learned Uncertainty Calibration for Visual Inertial Localization Stephanie Tsuei Stefano Soatto Paulo Tabuada Mark B. Milam 40 2 0 05 Oct 2021
A Right Invariant Extended Kalman Filter for Object based SLAM Yang Song Zhuqing Zhang Jun Wu Yue Wang Liang Zhao Shoudong Huang 48 30 0 11 Sep 2021
Inertial based Integration with Transformed INS Mechanization in Earth Frame Lubin Chang Jingbo Di F. Qin 140 54 0 03 Mar 2021
Strapdown Inertial Navigation System Initial Alignment based on Group of Double Direct Spatial Isometries Lubin Chang F. Qin Jiangning Xu LLMSV 53 57 0 25 Feb 2021
Consistent Right-Invariant Fixed-Lag Smoother with Application to Visual Inertial SLAM Jianzhu Huai Yukai Lin Y. Zhuang Min Shi 68 15 0 17 Feb 2021
A Versatile Keyframe-Based Structureless Filter for Visual Inertial Odometry Jianzhu Huai Yukai Lin C. Toth Y. Zhuang Dong Chen 52 2 0 30 Dec 2020
Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization Paul Chauchat Axel Barrau Silvère Bonnabel 135 9 0 22 Sep 2020
Attention-SLAM: A Visual Monocular SLAM Learning from Human Gaze Jinquan Li Ling Pei Danping Zou Songpengcheng Xia Qi Wu Tao Li Zhen Sun Wenxian Yu 57 34 0 15 Sep 2020
Lie Algebraic Unscented Kalman Filter for Pose Estimation A. M. Sjøberg O. Egeland 97 14 0 30 Apr 2020
A Code for Unscented Kalman Filtering on Manifolds (UKF-M) Martin Brossard Axel Barrau Silvere Bonnabel 69 40 0 03 Feb 2020