State Estimation for Robotics: A Matrix-Lie-Group Approach. Draft in preparation for publication by, 2016. ,
Associating uncertainty with threedimensional poses for use in estimation problems. Robotics, IEEE Transactions on, vol.30, issue.3, pp.679-693, 2014. ,
Intrinsic filtering on Lie groups with applications to attitude estimation, IEEE Transactions on Automatic Control, vol.60, issue.2, pp.436-449, 2015. ,
Non-linear state error based extended Kalman filters with applications to navigation, 2015. ,
URL : https://hal.archives-ouvertes.fr/tel-01247723
The invariant extended Kalman filter as a stable observer, IEEE Transactions on Automatic Control, vol.62, issue.4, pp.1797-1812, 2017. ,
URL : https://hal.archives-ouvertes.fr/hal-01692380
Invariant Kalman filtering, Robotics, and Autonomous Systems, vol.1, pp.237-257, 2018. ,
URL : https://hal.archives-ouvertes.fr/hal-01982804
, Linear observed systems on groups. Systems & Control Letters, vol.129, pp.36-42, 2019.
URL : https://hal.archives-ouvertes.fr/hal-01671724
Discrete extended Kalman filter on Lie groups, Signal Processing Conference (EUSIPCO), 2013 Proceedings of the 21st European, pp.1-5, 2013. ,
URL : https://hal.archives-ouvertes.fr/hal-00903252
Unscented Kalman filter on Lie groups for visual inertial odometry, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.649-655, 2018. ,
URL : https://hal.archives-ouvertes.fr/hal-01735542
Amelioration des methodes de navigation vision-inertiel par exploitation des perturbations magnétiques stationnaires de l'environnement, 2018. ,
Stochastic Models, Information Theory, and Lie Groups, Analytic Methods and Modern Applications, vol.2, 2011. ,
Gaussian approximation of non-linear measurement models on Lie groups, IEEE 53rd Annual Conference on, pp.6401-6406, 2014. ,
Factor Graphs and GTSAM: A Hands-on Introduction, 2012. ,
An invariant linear quadratic gaussian controller for a simplified car, Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp.448-453, 2015. ,
Closed-form preintegration methods for graph-based visual-inertial navigation, The International Journal of Robotics Research, vol.38, issue.5, pp.563-586, 2019. ,
Aided navigation: GPS with high rate sensors, 2008. ,
Onmanifold preintegration for real-time visual-inertial odometry, IEEE Transactions on Robotics, vol.33, issue.1, pp.1-21, 2017. ,
Contact-aided invariant extended Kalman filtering for robot state estimation, The International Journal of Robotics Research, 2019. ,
Contact-aided invariant extended Kalman filtering for legged robot state estimation, Proceedings of Robotics: Science and Systems, 2018. ,
Consistent EKF-based visual-inertial odometry on matrix Lie group, IEEE Sensors Journal, issue.99, 2018. ,
Consistent ekf-based visual-inertial navigation using points and lines, IEEE Sensors Journal, 2018. ,
Integrating generic sensor fusion algorithms with sound state representations through encapsulation of manifolds, Information Fusion, vol.14, issue.1, pp.57-77, 2013. ,
Factor graph based incremental smoothing in inertial navigation systems, 2012 15th International Conference on Information Fusion, pp.2154-2161, 2012. ,
Information fusion in navigation systems via factor graph based incremental smoothing, Robotics and Autonomous Systems, vol.61, issue.8, pp.721-738, 2013. ,
G2o: A General Framework for Graph Optimization, International Conference on Robotics and Automation (ICRA), pp.3607-3613, 2011. ,
The banana distribution is gaussian: A localization study with exponential coordinates, Robotics: Science and Systems VIII, pp.265-272, 2013. ,
Visual-inertial-aided navigation for highdynamic motion in built environments without initial conditions, IEEE Transactions on Robotics, vol.28, issue.1, pp.61-76, 2012. ,
Closed-form solution of visual-inertial structure from motion, International journal of computer vision, vol.106, issue.2, pp.138-152, 2014. ,
URL : https://hal.archives-ouvertes.fr/hal-00905881
Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map, Robotica, vol.26, issue.4, pp.419-434, 2008. ,
On the representation and estimation of spatial uncertainty, The international journal of Robotics Research, vol.5, issue.4, pp.56-68, 1986. ,
A real-time algorithm for mobile robot mapping with applications to multi-robot and 3D mapping, Robotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on, vol.1, pp.321-328, 2000. ,
Error propagation on the Euclidean group with applications to manipulator kinematics, IEEE Transactions on Robotics, vol.22, issue.4, pp.591-602, 2006. ,
Bayesian fusion on Lie groups, Journal of Algebraic Statistics, vol.2, issue.1, pp.75-97, 2011. ,
An invariant-EKF VINS algorithm for improving consistency, IROS, pp.1578-1585, 2017. ,