Search Results for author: Axel Barrau

Found 12 papers, 9 papers with code

Differentiable short-time Fourier transform with respect to the hop length

1 code implementation26 Jul 2023 Maxime Leiber, Yosra Marnissi, Axel Barrau, Mohammed El Badaoui

In this paper, we propose a differentiable version of the short-time Fourier transform (STFT) that allows for gradient-based optimization of the hop length or the frame temporal position by making these parameters continuous.

Differentiable adaptive short-time Fourier transform with respect to the window length

1 code implementation26 Jul 2023 Maxime Leiber, Yosra Marnissi, Axel Barrau, Mohammed El Badaoui

The resulting differentiable adaptive STFT possesses commendable properties, such as the ability to adapt in the same time-frequency representation to both transient and stationary components, while being easily optimized by gradient descent.

A differentiable short-time Fourier transform with respect to the window length

1 code implementation23 Aug 2022 Maxime Leiber, Axel Barrau, Yosra Marnissi, Dany Abboud

In this paper, we revisit the use of spectrograms in neural networks, by making the window length a continuous parameter optimizable by gradient descent instead of an empirically tuned integer-valued hyperparameter.

Invariant Smoothing with low process noise

no code implementations5 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.

The Geometry of Navigation Problems

no code implementations12 Jan 2022 Axel Barrau, Silvere Bonnabel

While many works exploiting an existing Lie group structure have been proposed for state estimation, in particular the Invariant Extended Kalman Filter (IEKF), few papers address the construction of a group structure that allows casting a given system into the framework of invariant filtering.

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

1 code implementation28 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''.


Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation

1 code implementation25 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.


Generalized mean shift with triangular kernel profile

no code implementations7 Jan 2020 Sébastien Razakarivony, Axel Barrau

In order to situate this new class of methods in the general picture of the Mean Shift theory, we alo give a synthetic exposure of existing results of this field.

Clustering Visual Tracking

AI-IMU Dead-Reckoning

2 code implementations12 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).

Dead-Reckoning Prediction Navigate

RINS-W: Robust Inertial Navigation System on Wheels

1 code implementation6 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.


An EKF-SLAM algorithm with consistency properties

1 code implementation21 Oct 2015 Axel Barrau, Silvere Bonnabel

In this paper we address the inconsistency of the EKF-based SLAM algorithm that stems from non-observability of the origin and orientation of the global reference frame.

Robotics Systems and Control

The invariant extended Kalman filter as a stable observer

3 code implementations6 Oct 2014 Axel Barrau, Silvère Bonnabel

We analyze the convergence aspects of the invariant extended Kalman filter (IEKF), when the latter is used as a deterministic non-linear observer on Lie groups, for continuous-time systems with discrete observations.

Systems and Control

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