Search Results for author: Martin Brossard

Found 5 papers, 4 papers with code

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''.

Robotics

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.

Denoising

Multi-frequency calibration for DOA estimation with distributed sensors

no code implementations24 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.

Distributed Optimization

AI-IMU Dead-Reckoning

3 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

2 code implementations6 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

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