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2020 – today
- 2024
[j32]Silvère Bonnabel
, Marc Lambert, Francis R. Bach:
Low-Rank Plus Diagonal Approximations for Riccati-Like Matrix Differential Equations. SIAM J. Matrix Anal. Appl. 45(3): 1669-1688 (2024)- [i41]Jonas Benhamou, Silvère Bonnabel, Camille Chapdelaine:
Backpropagation-Based Analytical Derivatives of EKF Covariance for Active Sensing. CoRR abs/2402.17569 (2024) - [i40]Sven Goffin, Axel Barrau, Silvère Bonnabel, Olivier Brüls, Pierre Sacré:
Iterated Invariant Extended Kalman Filter (IIEKF). CoRR abs/2404.10665 (2024) - [i39]Sven Goffin, Silvère Bonnabel, Olivier Brüls, Pierre Sacré:
Invariant Kalman Filtering with Noise-Free Pseudo-Measurements. CoRR abs/2404.10687 (2024) - [i38]Silvère Bonnabel, Marc Lambert, Francis R. Bach:
Low-rank plus diagonal approximations for Riccati-like matrix differential equations. CoRR abs/2407.03373 (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
- [j31]Marc Lambert, Silvère Bonnabel, Francis R. Bach:
The limited-memory recursive variational Gaussian approximation (L-RVGA). Stat. Comput. 33(3): 70 (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) - [j28]Sami Jouaber, Silvère Bonnabel, Santiago Velasco-Forero, Marion Pilté, Jesús Angulo:
Real-time Classification of Aircrafts Manoeuvers. J. Signal Process. Syst. 95(4): 425-434 (2023) - [c47]Jonas Benhamou, Silvère Bonnabel, Camille Chapdelaine:
Optimal Active Sensing Control for Two-Frame Systems. CDC 2023: 5967-5974 - [c46]Colin Parellier, Axel Barrau, Silvère Bonnabel:
A Computationally Efficient Global Indicator to Detect Spurious Measurement Drifts in Kalman Filtering. CDC 2023: 8641-8646 - [c45]Sven Goffin, Silvère Bonnabel, Olivier Brüls, Pierre Sacré:
Invariant Kalman Filtering with Noise-Free Pseudo-Measurements. CDC 2023: 8665-8671 - [c44]Marc Lambert, Silvère Bonnabel, Francis R. Bach:
Variational Gaussian Approximation of the Kushner Optimal Filter. GSI (1) 2023: 395-404 - [i36]Marc Lambert, Silvère Bonnabel, Francis R. Bach:
The limited-memory recursive variational Gaussian approximation (L-RVGA). CoRR abs/2303.14195 (2023) - [i35]Paul Chauchat, Silvère Bonnabel, Axel Barrau:
Invariant Smoothing for Localization: Including the IMU Biases. CoRR abs/2309.13903 (2023) - [i34]Marc Lambert, Silvère Bonnabel, Francis R. Bach:
Variational Gaussian approximation of the Kushner optimal filter. CoRR abs/2310.01859 (2023) - 2022
- [j27]Marc Lambert, Silvère Bonnabel, Francis R. Bach:
The recursive variational Gaussian approximation (R-VGA). Stat. Comput. 32(1): 10 (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 - [c42]Marc Lambert, Silvère Bonnabel, Francis R. Bach:
The continuous-discrete variational Kalman filter (CD-VKF). CDC 2022: 6632-6639 - [c41]Marc Lambert, Sinho Chewi, Francis R. Bach, Silvère Bonnabel, Philippe Rigollet:
Variational inference via Wasserstein gradient flows. NeurIPS 2022 - [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) - [i31]Marc Lambert, Sinho Chewi, Francis R. Bach, Silvère Bonnabel, Philippe Rigollet:
Variational inference via Wasserstein gradient flows. CoRR abs/2205.15902 (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) - [c40]Sami Jouaber, Silvère Bonnabel, Santiago Velasco-Forero, Marion Pilté:
NNAKF: A Neural Network Adapted Kalman Filter for Target Tracking. ICASSP 2021: 4075-4079 - 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) - [j22]Toni Karvonen, Silvère Bonnabel, Eric Moulines, Simo Särkkä:
On Stability of a Class of Filters for Nonlinear Stochastic Systems. SIAM J. Control. Optim. 58(4): 2023-2049 (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 - [c37]Théophile Cantelobre, Clément Chahbazian, Arnaud Croux, Silvère Bonnabel:
A real-time unscented Kalman filter on manifolds for challenging AUV navigation. IROS 2020: 2309-2316 - [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)
2010 – 2019
- 2019
- [j19]Axel Barrau, Silvère Bonnabel:
Linear observed systems on groups. Syst. Control. Lett. 129: 36-42 (2019) - [c36]Priyanka Das, Jordi Vilà-Valls, Eric Chaumette, François Vincent, Loïc Davain, Silvère Bonnabel:
On the Accuracy Limit of Time-delay Estimation with a Band-limited Signal. ICASSP 2019: 5282-5286 - [c35]Martin Brossard, Silvère Bonnabel:
Learning Wheel Odometry and IMU Errors for Localization. ICRA 2019: 291-297 - [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 - [c32]Silvère Bonnabel, Jean-Jacques E. Slotine:
Particle observers for state estimation and adaptation in deterministic systems with random piecewise constant inputs. CDC 2018: 2187-2192 - [c31]Toni Karvonen, Silvère Bonnabel, Eric Moulines, Simo Särkkä:
Bounds on the Covariance Matrix of a Class of Kalman-Bucy Filters for Systems with Non-Linear Dynamics. CDC 2018: 7176-7181 - [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 - [c26]Martin Barczyk, Silvère Bonnabel:
Towards realistic covariance estimation of ICP-based Kinect V1 scan matching: The 1D case. ACC 2017: 4833-4838 - [c25]Marion Pilté, Silvère Bonnabel, Frédéric Barbaresco:
Tracking the Frenet-Serret frame associated to a highly maneuvering target in 3D. CDC 2017: 1969-1974 - [c24]Paul Chauchat, Axel Barrau, Silvère Bonnabel:
Kalman filtering with a class of geometric state equality constraints. CDC 2017: 2581-2586 - [c23]Marion Pilté, Silvère Bonnabel, Frédéric Barbaresco:
Drone Tracking Using an Innovative UKF. GSI 2017: 301-309 - [c22]Silvère Bonnabel, Jean-Jacques E. Slotine:
Particle Observers for Contracting Dynamical Systems. GSI 2017: 310-317 - [c21]Martin Brossard, Silvère Bonnabel, Jean-Philippe Condomines:
Unscented Kalman filtering on Lie groups. IROS 2017: 2485-2491 - 2016
- [c20]Silvère Bonnabel, Martin Barczyk, François Goulette:
On the covariance of ICP-based scan-matching techniques. ACC 2016: 5498-5503 - 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) - [j14]Silvère Bonnabel, Jean-Jacques E. Slotine:
A Contraction Theory-Based Analysis of the Stability of the Deterministic Extended Kalman Filter. IEEE Trans. Autom. Control. 60(2): 565-569 (2015) - [j13]Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud, François Goulette:
Invariant EKF Design for Scan Matching-Aided Localization. IEEE Trans. Control. Syst. Technol. 23(6): 2440-2448 (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 - [c16]Sebastien Diemer, Silvère Bonnabel:
An invariant Linear Quadratic Gaussian controller for a simplified car. ICRA 2015: 448-453 - [i19]Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud, François Goulette:
Invariant EKF Design for Scan Matching-aided Localization. CoRR abs/1503.01407 (2015) - [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
- [j12]Bamdev Mishra, Gilles Meyer, Silvère Bonnabel, Rodolphe Sepulchre:
Fixed-rank matrix factorizations and Riemannian low-rank optimization. Comput. Stat. 29(3): 591-621 (2014) - [j11]Anne Collard, Silvère Bonnabel, Christophe Phillips, Rodolphe Sepulchre:
Anisotropy Preserving DTI Processing. Int. J. Comput. Vis. 107(1): 58-74 (2014) - [j10]Émilie Wirbel, Silvère Bonnabel, Arnaud de La Fortelle, Fabien Moutarde:
Humanoid Robot Navigation: Getting Localization Information from Vision. J. Intell. Syst. 23(2): 113-132 (2014) - [c15]Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud, François Goulette:
Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM. ACC 2014: 4121-4126 - [c14]Axel Barrau, Silvère Bonnabel:
Invariant particle filtering with application to localization. CDC 2014: 5599-5605 - [c13]Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle:
Priority-based intersection management with kinodynamic constraints. ECC 2014: 2902-2907 - [i16]Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud, François Goulette:
Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM. CoRR abs/1403.5195 (2014) - [i15]Sebastien Diemer, Silvère Bonnabel:
An Invariant Linear Quadratic Gaussian controller for a simplified car. CoRR abs/1406.1619 (2014) - [i14]Axel Barrau, Silvère Bonnabel:
The invariant extended Kalman filter as a stable observer. CoRR abs/1410.1465 (2014) - [i13]Martin Barczyk, Silvère Bonnabel, François Goulette:
Observability, Covariance and Uncertainty of ICP Scan Matching. CoRR abs/1410.7632 (2014) - 2013
- [j9]Silvère Bonnabel:
Stochastic Gradient Descent on Riemannian Manifolds. IEEE Trans. Autom. Control. 58(9): 2217-2229 (2013) - [c12]Axel Barrau, Silvère Bonnabel:
Intrinsic filtering on SO(3) with discrete-time observations. CDC 2013: 3255-3260 - [c11]Thach Ngoc Dinh, Silvère Bonnabel, Rodolphe Sepulchre:
Contraction-based design of positive observers. CDC 2013: 6574-6579 - [c10]Axel Barrau, Silvère Bonnabel:
A Note on the Intrinsic Cramer-Rao Bound. GSI 2013: 377-386 - [c9]Émilie Wirbel, Bruno Steux, Silvère Bonnabel, Arnaud de La Fortelle:
Humanoid robot navigation: From a visual SLAM to a visual compass. ICNSC 2013: 678-683 - [i12]Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle:
Priority-based coordination of robots. CoRR abs/1306.0785 (2013) - [i11]Axel Barrau, Silvère Bonnabel:
Intrinsic filtering on Lie groups with applications to attitude estimation. CoRR abs/1310.2539 (2013) - [i10]Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle:
Priority-based intersection management with kinodynamic constraints. CoRR abs/1310.5828 (2013) - [i9]Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle:
Optimal cooperative motion planning for vehicles at intersections. CoRR abs/1310.7729 (2013) - 2012
- [c8]Thibault Hervier, Silvère Bonnabel, François Goulette:
Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering. IROS 2012: 5291-5297 - [i8]Silvère Bonnabel, Rodolphe Sepulchre:
The geometry of low-rank Kalman filters. CoRR abs/1203.4049 (2012) - [i7]Thibault Hervier, Silvère Bonnabel, François Goulette:
Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering. CoRR abs/1205.3727 (2012) - [i6]Bamdev Mishra, Gilles Meyer, Silvère Bonnabel, Rodolphe Sepulchre:
Fixed-rank matrix factorizations and Riemannian low-rank optimization. CoRR abs/1209.0430 (2012) - [i5]Anne Collard, Silvère Bonnabel, Christophe Phillips, Rodolphe Sepulchre:
An anisotropy preserving metric for DTI processing. CoRR abs/1210.2826 (2012) - [i4]Silvère Bonnabel, Jean-Jacques E. Slotine:
A contraction theory-based analysis of the stability of the Extended Kalman Filter. CoRR abs/1211.6624 (2012) - 2011
- [j8]Gilles Meyer, Silvère Bonnabel, Rodolphe Sepulchre:
Regression on Fixed-Rank Positive Semidefinite Matrices: A Riemannian Approach. J. Mach. Learn. Res. 12: 593-625 (2011) - [j7]Didier Auroux, Silvère Bonnabel:
Symmetry-Based Observers for Some Water-Tank Problems. IEEE Trans. Autom. Control. 56(5): 1046-1058 (2011) - [c7]Silvère Bonnabel, Jean-Emmanuel Deschaud, Erwan Salaün:
A simple nonlinear filter for low-cost ground vehicle localization system. CDC/ECC 2011: 3270-3275 - [c6]Silvère Bonnabel, Alessandro Astolfi, Rodolphe Sepulchre:
Contraction and observer design on cones. CDC/ECC 2011: 7147-7151 - [c5]Gilles Meyer, Silvère Bonnabel, Rodolphe Sepulchre:
Linear Regression under Fixed-Rank Constraints: A Riemannian Approach. ICML 2011: 545-552 - [i3]Silvère Bonnabel:
Symmetries in observer design: review of some recent results and applications to EKF-based SLAM. CoRR abs/1105.2254 (2011) - [i2]Silvère Bonnabel:
Stochastic gradient descent on Riemannian manifolds. CoRR abs/1111.5280 (2011) - 2010
- [j6]Alain Sarlette, Silvère Bonnabel, Rodolphe Sepulchre:
Coordinated Motion Design on Lie Groups. IEEE Trans. Autom. Control. 55(5): 1047-1058 (2010) - [j5]Silvère Bonnabel:
A Simple Intrinsic Reduced-Observer for Geodesic Flow. IEEE Trans. Autom. Control. 55(9): 2186-2191 (2010) - [i1]Gilles Meyer, Silvère Bonnabel, Rodolphe Sepulchre:
Regression on fixed-rank positive semidefinite matrices: a Riemannian approach. CoRR abs/1006.1288 (2010)
2000 – 2009
- 2009
- [j4]Silvère Bonnabel, Mazyar Mirrahimi, Pierre Rouchon:
Observer-based Hamiltonian identification for quantum systems. Autom. 45(5): 1144-1155 (2009) - [j3]Silvère Bonnabel, Rodolphe Sepulchre:
Riemannian Metric and Geometric Mean for Positive Semidefinite Matrices of Fixed Rank. SIAM J. Matrix Anal. Appl. 31(3): 1055-1070 (2009) - [j2]Silvère Bonnabel, Philippe Martin, Pierre Rouchon:
Non-Linear Symmetry-Preserving Observers on Lie Groups. IEEE Trans. Autom. Control. 54(7): 1709-1713 (2009) - [c4]Silvère Bonnabel, Philippe Martin, Erwan Salaün:
Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem. CDC 2009: 1297-1304 - 2008
- [j1]Silvère Bonnabel, Philippe Martin, Pierre Rouchon:
Symmetry-Preserving Observers. IEEE Trans. Autom. Control. 53(11): 2514-2526 (2008) - [c3]Alain Sarlette, Silvère Bonnabel, Rodolphe Sepulchre:
Coordination on Lie groups. CDC 2008: 1275-1279 - 2007
- [c2]Silvère Bonnabel:
Left-invariant extended Kalman filter and attitude estimation. CDC 2007: 1027-1032 - 2006
- [c1]Silvère Bonnabel, Philippe Martin, Pierre Rouchon:
A non-linear symmetry-preserving observer for velocity-aided inertial navigation. ACC 2006: 1-5
Coauthor Index
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