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07/28/2020
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth
The recently introduced matrix group SE2(3) provides a 5x5 matrix repres...
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02/25/2020
Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation
This paper proposes a learning method for denois-ing gyroscopes of Inert...
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02/24/2020
Multi-frequency calibration for DOA estimation with distributed sensors
In this work, we investigate direction finding in the presence of sensor...
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02/03/2020
A Code for Unscented Kalman Filtering on Manifolds (UKF-M)
The present paper introduces a novel methodology for Unscented Kalman Fi...
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09/12/2019
A New Approach to 3D ICP Covariance Estimation for Mobile Robotics
In mobile robotics, scan matching of point clouds using Iterative Closes...
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04/12/2019
AI-IMU Dead-Reckoning
In this paper we propose a novel accurate method for dead-reckoning of w...
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03/13/2019
Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM
The Extended Kalman Filter (EKF) is both the historical algorithm for mu...
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03/06/2019