Silvere Bonnabel

发表

A Mathematical Framework for IMU Error Propagation with Applications to Preintegration

Axel Barrau, Silvere Bonnabel, 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA).

Symmetry-Based Observers for Some Water-Tank Problems

Silvere Bonnabel, Didier Auroux, S. Bonnabel, 2011, IEEE Transactions on Automatic Control.

Kalman filtering with a class of geometric state equality constraints

Axel Barrau, Silvere Bonnabel, Paul Chauchat, 2017, 2017 IEEE 56th Annual Conference on Decision and Control (CDC).

Invariant particle filtering with application to localization

Axel Barrau, Silvere Bonnabel, S. Bonnabel, 2014, 53rd IEEE Conference on Decision and Control.

A Note on the Intrinsic Cramer-Rao Bound

Axel Barrau, Silvere Bonnabel, S. Bonnabel, 2013, GSI.

Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization pdf

Axel Barrau, Silvere Bonnabel, Paul Chauchat, 2020, IEEE Transactions on Control Systems Technology.

Coordinated Motion Design on Lie Groups

Alain Sarlette, Silvere Bonnabel, Rodolphe Sepulchre, 2008, IEEE Transactions on Automatic Control.

Priority-based coordination of robots pdf

Jean Gregoire, Arnaud de La Fortelle, Silvere Bonnabel, 2013, ArXiv.

Humanoid Robot Navigation: Getting Localization Information from Vision

Fabien Moutarde, Arnaud de La Fortelle, Silvere Bonnabel, 2014, J. Intell. Syst..

Stochastic Gradient Descent on Riemannian Manifolds

Silvere Bonnabel, S. Bonnabel, 2011, IEEE Transactions on Automatic Control.

Priority-based intersection management with kinodynamic constraints

Jean Gregoire, Arnaud de La Fortelle, Silvere Bonnabel, 2013, 2014 European Control Conference (ECC).

On the Accuracy Limit of Time-delay Estimation with a Band-limited Signal

Eric Chaumette, François Vincent, Silvere Bonnabel, 2019, ICASSP 2019 - 2019 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP).

Symmetry-Preserving Observers

Philippe Martin, Pierre Rouchon, Silvere Bonnabel, 2006, IEEE Transactions on Automatic Control.

Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering

François Goulette, Silvere Bonnabel, Thibault Hervier, 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

A simple nonlinear filter for low-cost ground vehicle localization system

Erwan Salaün, Silvere Bonnabel, Jean-Emmanuel Deschaud, 2011, IEEE Conference on Decision and Control and European Control Conference.

Coordination on Lie groups

Alain Sarlette, Silvere Bonnabel, Rodolphe Sepulchre, 2008, 2008 47th IEEE Conference on Decision and Control.

The Invariant Extended Kalman Filter as a Stable Observer

Axel Barrau, Silvere Bonnabel, S. Bonnabel, 2014, IEEE Transactions on Automatic Control.

Symmetries in observer design: review of some recent results and applications to EKF-based SLAM pdf

Silvere Bonnabel, 2011, ArXiv.

A Code for Unscented Kalman Filtering on Manifolds (UKF-M)

Martin Brossard, Axel Barrau, Silvere Bonnabel, 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA).

Non-Linear Symmetry-Preserving Observers on Lie Groups

Philippe Martin, Pierre Rouchon, Silvere Bonnabel, 2007, IEEE Transactions on Automatic Control.

A contraction theory-based analysis of the stability of the Extended Kalman Filter pdf

Jean-Jacques E. Slotine, Silvere Bonnabel, 2012, ArXiv.

Optimal cooperative motion planning for vehicles at intersections pdf

Jean Gregoire, Arnaud de La Fortelle, Silvere Bonnabel, 2013, ArXiv.

Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem

Philippe Martin, Erwan Salaün, Silvere Bonnabel, 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

Stochastic observers on Lie groups: a tutorial

Axel Barrau, Silvere Bonnabel, S. Bonnabel, 2018, 2018 IEEE Conference on Decision and Control (CDC).

Humanoid robot navigation: From a visual SLAM to a visual compass

Arnaud de La Fortelle, Silvere Bonnabel, Bruno Steux, 2013, 2013 10th IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL (ICNSC).

On the covariance of ICP-based scan-matching techniques

François Goulette, Silvere Bonnabel, Martin Barczyk, 2014, 2016 American Control Conference (ACC).

Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM

François Goulette, Silvere Bonnabel, Martin Barczyk, 2014, 2014 American Control Conference.

Regression on Fixed-Rank Positive Semidefinite Matrices: A Riemannian Approach pdf

Silvere Bonnabel, Rodolphe Sepulchre, Gilles Meyer, 2010, J. Mach. Learn. Res..

Invariant EKF Design for Scan Matching-Aided Localization

François Goulette, Silvere Bonnabel, Martin Barczyk, 2015, IEEE Transactions on Control Systems Technology.

Observer-based Hamiltonian identification for quantum systems

Mazyar Mirrahimi, Pierre Rouchon, Silvere Bonnabel, 2007, Autom..

Particle observers for state estimation and adaptation in deterministic systems with random piecewise constant inputs

Jean-Jacques E. Slotine, Silvere Bonnabel, 2018, 2018 IEEE Conference on Decision and Control (CDC).

Symmetry reduction for dynamic programming and application to MRI

John N. Maidens, Axel Barrau, Silvere Bonnabel, 2017, 2017 American Control Conference (ACC).

An Intrinsic Cramér-Rao Bound on Lie Groups

Axel Barrau, Silvere Bonnabel, S. Bonnabel, 2015, GSI.

An anisotropy preserving metric for DTI processing pdf

Christophe Phillips, Silvere Bonnabel, Rodolphe Sepulchre, 2012, ArXiv.

Left-invariant extended Kalman filter and attitude estimation

Silvere Bonnabel, S. Bonnabel, 2007, 2007 46th IEEE Conference on Decision and Control.

Contraction-based design of positive observers

Silvere Bonnabel, Rodolphe Sepulchre, Thach Ngoc Dinh, 2013, 52nd IEEE Conference on Decision and Control.

Tracking the Frenet-Serret frame associated to a highly maneuvering target in 3D

Silvere Bonnabel, Frédéric Barbaresco, Marion Pilté, 2017, 2017 IEEE 56th Annual Conference on Decision and Control (CDC).

RINS-W: Robust Inertial Navigation System on Wheels

Martin Brossard, Axel Barrau, Silvere Bonnabel, 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

An invariant Linear Quadratic Gaussian controller for a simplified car

Silvere Bonnabel, Sebastien Diemer, S. Bonnabel, 2014, 2015 IEEE International Conference on Robotics and Automation (ICRA).

Invariant filtering for Pose EKF-SLAM aided by an IMU

Axel Barrau, Silvere Bonnabel, 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

Invariant Kalman Filtering for Visual Inertial SLAM

Martin Brossard, Axel Barrau, Silvere Bonnabel, 2018, 2018 21st International Conference on Information Fusion (FUSION).

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

Martin Brossard, Axel Barrau, Silvere Bonnabel, 2020, IEEE Robotics and Automation Letters.

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

Martin Brossard, Axel Barrau, Silvere Bonnabel, 2020, IEEE Transactions on Robotics.

Linear observed systems on groups

Axel Barrau, Silvere Bonnabel, 2019, Syst. Control. Lett..

Unscented Kalman Filter on Lie Groups for Visual Inertial Odometry

Martin Brossard, Axel Barrau, Silvere Bonnabel, 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Linear Regression under Fixed-Rank Constraints: A Riemannian Approach

Silvere Bonnabel, Rodolphe Sepulchre, Gilles Meyer, 2011, ICML.

The geometry of low-rank Kalman filters pdf

Silvere Bonnabel, Rodolphe Sepulchre, R. Sepulchre, 2012, ArXiv.

Fixed-rank matrix factorizations and Riemannian low-rank optimization

Bamdev Mishra, Silvere Bonnabel, Rodolphe Sepulchre, 2012, Comput. Stat..

A Simple Intrinsic Reduced-Observer for Geodesic Flow $ $

Silvere Bonnabel, S. Bonnabel, 2008, IEEE Transactions on Automatic Control.

Bounds on the Covariance Matrix of a Class of Kalman-Bucy Filters for Systems with Non-Linear Dynamics

Eric Moulines, Simo Särkkä, Silvere Bonnabel, 2018, 2018 IEEE Conference on Decision and Control (CDC).

Invariant Kalman Filtering

Axel Barrau, Silvere Bonnabel, S. Bonnabel, 2018, Annu. Rev. Control. Robotics Auton. Syst..

Unscented Kalman filtering on Lie groups

Jean-Philippe Condomines, Martin Brossard, Silvere Bonnabel, 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

A Separation Principle on Lie Groups

Philippe Martin, Pierre Rouchon, Silvere Bonnabel, 2010 .

Intrinsic Filtering on Lie Groups With Applications to Attitude Estimation

Axel Barrau, Silvere Bonnabel, S. Bonnabel, 2013, IEEE Transactions on Automatic Control.

Anisotropy preserving interpolation of diffusion tensors

Christophe Phillips, Silvere Bonnabel, Rodolphe Sepulchre, 2012 .

An intrinsic Cramér-Rao bound on SO(3) for (dynamic) attitude filtering

Axel Barrau, Silvere Bonnabel, S. Bonnabel, 2015, 2015 54th IEEE Conference on Decision and Control (CDC).

Anisotropy Preserving DTI Processing

Christophe Phillips, Silvere Bonnabel, Rodolphe Sepulchre, 2014, International Journal of Computer Vision.

Towards realistic covariance estimation of ICP-based Kinect V1 scan matching: The 1D case

Silvere Bonnabel, Martin Barczyk, S. Bonnabel, 2017, 2017 American Control Conference (ACC).

Invariant smoothing on Lie Groups

Axel Barrau, Silvere Bonnabel, Paul Chauchat, 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

A Contraction Theory-Based Analysis of the Stability of the Deterministic Extended Kalman Filter

Jean-Jacques E. Slotine, Silvere Bonnabel, J. Slotine, 2015, IEEE Transactions on Automatic Control.

An EKF-SLAM algorithm with consistency properties pdf

Axel Barrau, Silvere Bonnabel, S. Bonnabel, 2015, ArXiv.

Extended Kalman Filtering With Nonlinear Equality Constraints: A Geometric Approach

Axel Barrau, Silvere Bonnabel, 2020, IEEE Transactions on Automatic Control.

Contraction and observer design on cones

Alessandro Astolfi, Silvere Bonnabel, Rodolphe Sepulchre, 2011, IEEE Conference on Decision and Control and European Control Conference.

Robust multirobot coordination using priority encoded homotopic constraints

Jean Gregoire, Arnaud de La Fortelle, Silvere Bonnabel, 2013 .

Intrinsic filtering on SO(3) with discrete-time observations

Axel Barrau, Silvere Bonnabel, 2013, 52nd IEEE Conference on Decision and Control.

Network of automated vehicles: The AutoNet2030 vision

Ali Marjovi, Fabien Moutarde, Jean Gregoire, 2014 .

Riemannian Metric and Geometric Mean for Positive Semidefinite Matrices of Fixed Rank

Silvere Bonnabel, Rodolphe Sepulchre, R. Sepulchre, 2008, SIAM J. Matrix Anal. Appl..

The Geometry of Navigation Problems pdf

Axel Barrau, Silvere Bonnabel, 2022, IEEE Transactions on Automatic Control.

From subspace learning to distance learning: A geometrical optimization approach

Silvere Bonnabel, Rodolphe Sepulchre, R. Sepulchre, 2009, 2009 IEEE/SP 15th Workshop on Statistical Signal Processing.

Non-linear observer on Lie Groups for left-invariant dynamics with right-left equivariant output

Philippe Martin, Pierre Rouchon, Silvere Bonnabel, 2008 .

Navigating with highly precise odometry and noisy GPS: a case study

Axel Barrau, Silvere Bonnabel, 2016 .

Three examples of the stability properties of the invariant extended Kalman filter

Axel Barrau, Silvere Bonnabel, S. Bonnabel, 2017 .

On invariant observers

Pierre Rouchon, Silvere Bonnabel, P. Rouchon, 2005 .

Rank-preserving geometric means of positive semi-definite matrices

Silvere Bonnabel, Rodolphe Sepulchre, Anne Collard, 2010, 1007.5494.