Search Results for author: Silvère Bonnabel

Found 5 papers, 4 papers with code

Variational inference via Wasserstein gradient flows

1 code implementation31 May 2022 Marc Lambert, Sinho Chewi, Francis Bach, Silvère Bonnabel, Philippe Rigollet

Along with Markov chain Monte Carlo (MCMC) methods, variational inference (VI) has emerged as a central computational approach to large-scale Bayesian inference.

Bayesian Inference Variational Inference

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

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

On the Covariance of ICP-based Scan-matching Techniques

no code implementations16 Oct 2014 Silvère Bonnabel, Martin Barczyk, François Goulette

This paper considers the problem of estimating the covariance of roto-translations computed by the Iterative Closest Point (ICP) algorithm.

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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