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04/05/2022
Invariant Smoothing with low process noise
In this paper we address smoothing-that is, optimisation-based-estimatio...
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09/22/2020
Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization
We consider the problem of localizing a manned, semi-autonomous, or auto...
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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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03/06/2018