Invariant Smoothing with low process noise

no code implementations • 5 Apr 2022 • Paul Chauchat, Silvere Bonnabel, Axel Barrau

In this paper we address smoothing-that is, optimisation-based-estimation techniques for localisation problems in the case where motion sensors are very accurate.

Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth

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

Geomstats: A Python Package for Riemannian Geometry in Machine Learning

1 code implementation • ICLR 2019 • Nina Miolane, Alice Le Brigant, Johan Mathe, Benjamin Hou, Nicolas Guigui, Yann Thanwerdas, Stefan Heyder, Olivier Peltre, Niklas Koep, Hadi Zaatiti, Hatem Hajri, Yann Cabanes, Thomas Gerald, Paul Chauchat, Christian Shewmake, Bernhard Kainz, Claire Donnat, Susan Holmes, Xavier Pennec

We introduce Geomstats, an open-source Python toolbox for computations and statistics on nonlinear manifolds, such as hyperbolic spaces, spaces of symmetric positive definite matrices, Lie groups of transformations, and many more.

BIG-bench Machine Learning Clustering +2