1 code implementation • 28 Jul 2020 • Martin Brossard, Axel Barrau, Paul Chauchat, Silvère Bonnabel
The recently introduced matrix group SE2(3) provides a 5x5 matrix representation for the orientation, velocity and position of an object in the 3-D space, a triplet we call ''extended pose''.
Robotics
1 code implementation • 25 Feb 2020 • Martin Brossard, Silvere Bonnabel, Axel Barrau
This paper proposes a learning method for denoising gyroscopes of Inertial Measurement Units (IMUs) using ground truth data, and estimating in real time the orientation (attitude) of a robot in dead reckoning.
no code implementations • 24 Feb 2020 • Martin Brossard, Virginie Ollier, Mohammed Nabil El Korso, Rémy Boyer, Pascal Larzabal
In this work, we investigate direction finding in the presence of sensor gain uncertainties and directional perturbations for sensor array processing in a multi-frequency scenario.
2 code implementations • 12 Apr 2019 • Martin Brossard, Axel Barrau, Silvère Bonnabel
In this paper we propose a novel accurate method for dead-reckoning of wheeled vehicles based only on an Inertial Measurement Unit (IMU).
1 code implementation • 6 Mar 2019 • Martin Brossard, Axel Barrau, Silvere Bonnabel
This paper proposes a real-time approach for long-term inertial navigation based only on an Inertial Measurement Unit (IMU) for self-localizing wheeled robots.
Robotics