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ORCIDSilvère Bonnabel
- > Home > Persons > Silvère Bonnabel
Publications
- 2026
[j34]Sven Goffin
, Axel Barrau, Silvère Bonnabel, Olivier Brüls, Pierre Sacré:
Iterated Invariant Extended Kalman Filter (IterIEKF). IEEE Trans. Autom. Control. 71(5): 3380-3387 (2026)- 2025
- [j33]Clément Chahbazian, Axel Barrau, Silvère Bonnabel:
Invariant Extended Kalman Filter for State Estimation of a Robot With an IMU on an Inclined Plane. IEEE Control. Syst. Lett. 9: 2369-2374 (2025) - 2024
- [c52]Colin Parellier, Camille Chapdelaine, Axel Barrau, Silvère Bonnabel:
Maximum likelihood estimation of the extended Kalman filter's parameters with natural gradient. CDC 2024: 723-728 - [c50]Paul Chauchat, Axel Barrau, Silvère Bonnabel:
Invariant filtering for wheeled vehicle localization with unknown wheel radius and unknown GNSS lever arm. CDC 2024: 2005-2011 - [c49]Paul Chauchat, Axel Barrau, Silvère Bonnabel:
Invariant Smoothing for Localization: Including the IMU Biases. CDC 2024: 8684-8689 - [i40]Sven Goffin, Axel Barrau, Silvère Bonnabel, Olivier Brüls, Pierre Sacré:
Iterated Invariant Extended Kalman Filter (IIEKF). CoRR abs/2404.10665 (2024) - [i37]Paul Chauchat, Silvère Bonnabel, Axel Barrau:
Invariant filtering for wheeled vehicle localization with unknown wheel radius and unknown GNSS lever arm. CoRR abs/2409.07050 (2024) - 2023
- [j30]Axel Barrau, Silvère Bonnabel:
The Geometry of Navigation Problems. IEEE Trans. Autom. Control. 68(2): 689-704 (2023) - [j29]Colin Parellier, Axel Barrau, Silvère Bonnabel:
Speeding-Up Backpropagation of Gradients Through the Kalman Filter via Closed-Form Expressions. IEEE Trans. Autom. Control. 68(12): 8171-8177 (2023) - [c46]Colin Parellier, Axel Barrau, Silvère Bonnabel:
A Computationally Efficient Global Indicator to Detect Spurious Measurement Drifts in Kalman Filtering. CDC 2023: 8641-8646 - [i35]Paul Chauchat, Silvère Bonnabel, Axel Barrau:
Invariant Smoothing for Localization: Including the IMU Biases. CoRR abs/2309.13903 (2023) - 2022
- [j26]Martin Brossard, Axel Barrau, Paul Chauchat, Silvère Bonnabel:
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth. IEEE Trans. Robotics 38(2): 998-1015 (2022) - [c43]Paul Chauchat, Silvère Bonnabel, Axel Barrau:
Invariant Smoothing with low process noise. CDC 2022: 4758-4763 - [i33]Axel Barrau, Silvère Bonnabel:
The Geometry of Navigation Problems. CoRR abs/2201.04426 (2022) - [i32]Paul Chauchat, Silvère Bonnabel, Axel Barrau:
Invariant Smoothing with low process noise. CoRR abs/2204.05256 (2022) - 2021
- [j25]Paul Chauchat, Axel Barrau, Silvère Bonnabel:
Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization. IEEE Trans. Control. Syst. Technol. 29(3): 1219-1232 (2021) - 2020
- [j24]Martin Brossard, Silvère Bonnabel, Axel Barrau:
A New Approach to 3D ICP Covariance Estimation. IEEE Robotics Autom. Lett. 5(2): 744-751 (2020) - [j23]Martin Brossard, Silvère Bonnabel, Axel Barrau:
Denoising IMU Gyroscopes With Deep Learning for Open-Loop Attitude Estimation. IEEE Robotics Autom. Lett. 5(3): 4796-4803 (2020) - [j21]Axel Barrau, Silvère Bonnabel:
Extended Kalman Filtering With Nonlinear Equality Constraints: A Geometric Approach. IEEE Trans. Autom. Control. 65(6): 2325-2338 (2020) - [j20]Martin Brossard, Axel Barrau, Silvère Bonnabel:
AI-IMU Dead-Reckoning. IEEE Trans. Intell. Veh. 5(4): 585-595 (2020) - [c39]Martin Brossard, Axel Barrau, Silvère Bonnabel:
A Code for Unscented Kalman Filtering on Manifolds (UKF-M). ICRA 2020: 5701-5708 - [c38]Axel Barrau, Silvère Bonnabel:
A Mathematical Framework for IMU Error Propagation with Applications to Preintegration. ICRA 2020: 5732-5738 - [i30]Martin Brossard, Axel Barrau, Silvère Bonnabel:
A Code for Unscented Kalman Filtering on Manifolds (UKF-M). CoRR abs/2002.00878 (2020) - [i29]Martin Brossard, Silvère Bonnabel, Axel Barrau:
Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation. CoRR abs/2002.10718 (2020) - [i28]Axel Barrau, Silvère Bonnabel:
A Mathematical Framework for IMU Error Propagation with Applications to Preintegration. CoRR abs/2003.03908 (2020) - [i27]Martin Brossard, Axel Barrau, Paul Chauchat, Silvère Bonnabel:
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth. CoRR abs/2007.14097 (2020) - [i26]Paul Chauchat, Axel Barrau, Silvère Bonnabel:
Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization. CoRR abs/2009.11097 (2020) - 2019
- [j19]Axel Barrau, Silvère Bonnabel:
Linear observed systems on groups. Syst. Control. Lett. 129: 36-42 (2019) - [c34]Martin Brossard, Axel Barrau, Silvère Bonnabel:
RINS-W: Robust Inertial Navigation System on Wheels. IROS 2019: 2068-2075 - [i25]Martin Brossard, Axel Barrau, Silvère Bonnabel:
RINS-W: Robust Inertial Navigation System on Wheels. CoRR abs/1903.02210 (2019) - [i24]Martin Brossard, Axel Barrau, Silvère Bonnabel:
Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM. CoRR abs/1903.05384 (2019) - [i23]Martin Brossard, Axel Barrau, Silvère Bonnabel:
AI-IMU Dead-Reckoning. CoRR abs/1904.06064 (2019) - [i22]Martin Brossard, Silvère Bonnabel, Axel Barrau:
A New Approach to 3D ICP Covariance Estimation for Mobile Robotics. CoRR abs/1909.05722 (2019) - 2018
- [j18]Axel Barrau, Silvère Bonnabel:
Invariant Kalman Filtering. Annu. Rev. Control. Robotics Auton. Syst. 1: 237-257 (2018) - [j17]John Maidens, Axel Barrau, Silvère Bonnabel, Murat Arcak:
Symmetry reduction for dynamic programming. Autom. 97: 367-375 (2018) - [c33]Axel Barrau, Silvère Bonnabel:
Stochastic observers on Lie groups: a tutorial. CDC 2018: 1264-1269 - [c30]Martin Brossard, Silvère Bonnabel, Axel Barrau:
Invariant Kalman Filtering for Visual Inertial SLAM. FUSION 2018: 2021-2028 - [c29]Martin Brossard, Silvère Bonnabel, Axel Barrau:
Unscented Kalman Filter on Lie Groups for Visual Inertial Odometry. IROS 2018: 649-655 - [c28]Paul Chauchat, Axel Barrau, Silvère Bonnabel:
Invariant smoothing on Lie Groups. IROS 2018: 1703-1710 - [i21]John N. Maidens, Axel Barrau, Silvère Bonnabel, Murat Arcak:
Symmetry reduction for dynamic programming. CoRR abs/1801.03237 (2018) - [i20]Paul Chauchat, Axel Barrau, Silvère Bonnabel:
Invariant Smoothing on Lie Groups. CoRR abs/1803.02076 (2018) - 2017
- [j16]Axel Barrau, Silvère Bonnabel:
The Invariant Extended Kalman Filter as a Stable Observer. IEEE Trans. Autom. Control. 62(4): 1797-1812 (2017) - [c27]John N. Maidens, Axel Barrau, Silvère Bonnabel, Murat Arcak:
Symmetry reduction for dynamic programming and application to MRI. ACC 2017: 4625-4630 - [c24]Paul Chauchat, Axel Barrau, Silvère Bonnabel:
Kalman filtering with a class of geometric state equality constraints. CDC 2017: 2581-2586 - 2015
- [j15]Axel Barrau, Silvère Bonnabel:
Intrinsic Filtering on Lie Groups With Applications to Attitude Estimation. IEEE Trans. Autom. Control. 60(2): 436-449 (2015) - [c19]Axel Barrau, Silvère Bonnabel:
Invariant filtering for Pose EKF-SLAM aided by an IMU. CDC 2015: 2133-2138 - [c18]Silvère Bonnabel, Axel Barrau:
An intrinsic Cramér-Rao bound on SO(3) for (dynamic) attitude filtering. CDC 2015: 2158-2163 - [c17]Silvère Bonnabel, Axel Barrau:
An Intrinsic Cramér-Rao Bound on Lie Groups. GSI 2015: 664-672 - [i18]Silvère Bonnabel, Axel Barrau:
An intrinsic Cramér-Rao bound on Lie groups. CoRR abs/1506.05662 (2015) - [i17]Axel Barrau, Silvère Bonnabel:
An EKF-SLAM algorithm with consistency properties. CoRR abs/1510.06263 (2015) - 2014
- [c14]Axel Barrau, Silvère Bonnabel:
Invariant particle filtering with application to localization. CDC 2014: 5599-5605 - [i14]Axel Barrau, Silvère Bonnabel:
The invariant extended Kalman filter as a stable observer. CoRR abs/1410.1465 (2014) - 2013
- [c12]Axel Barrau, Silvère Bonnabel:
Intrinsic filtering on SO(3) with discrete-time observations. CDC 2013: 3255-3260 - [c10]Axel Barrau, Silvère Bonnabel:
A Note on the Intrinsic Cramer-Rao Bound. GSI 2013: 377-386 - [i11]Axel Barrau, Silvère Bonnabel:
Intrinsic filtering on Lie groups with applications to attitude estimation. CoRR abs/1310.2539 (2013)
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