Contact-aided invariant extended Kalman filtering for robot state estimation

Closed-form preintegration methods for graph-based visual–inertial navigation

(2019) Kevin Eckenhoff et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Extended Kalman Filtering With Nonlinear Equality Constraints: A Geometric Approach

(2019) Axel Barrau et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator

(2018) Tong Qin et al.   IEEE Transactions on Robotics

The Invariant Extended Kalman Filter as a Stable Observer

(2017) Axel Barrau et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Monocular Visual–Inertial State Estimation With Online Initialization and Camera–IMU Extrinsic Calibration

(2017) Zhenfei Yang et al.   IEEE Transactions on Automation Science and Engineering

On-Manifold Preintegration for Real-Time Visual--Inertial Odometry

(2017) Christian Forster et al.   IEEE Transactions on Robotics

From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking With Speed Tracking

(2016) Xingye Da et al.   IEEE Access

Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

(2015) Scott Kuindersma et al.   AUTONOMOUS ROBOTS

Estimation and Stabilization of Humanoid Flexibility Deformation Using Only Inertial Measurement Units and Contact Information

(2015) Mehdi Benallegue et al.   International Journal of Humanoid Robotics

Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems

(2014) Timothy D. Barfoot et al.   IEEE Transactions on Robotics

Continuous-Discrete Extended Kalman Filter on Matrix Lie Groups Using Concentrated Gaussian Distributions

(2014) Guillaume Bourmaud et al.   JOURNAL OF MATHEMATICAL IMAGING AND VISION

A Real-Time Adaptive High-Gain EKF, Applied to a Quadcopter Inertial Navigation System

(2013) Kenneth D. Sebesta et al.   IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

Invariant Observer Design for a Helicopter UAV Aided Inertial Navigation System

(2012) Martin Barczyk et al.   IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY

Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions

(2011) Todd Lupton et al.   IEEE Transactions on Robotics

Non-Linear Symmetry-Preserving Observers on Lie Groups

(2009) S. Bonnabel et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Observability-based Rules for Designing Consistent EKF SLAM Estimators

(2009) Guoquan P. Huang et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Nonparametric Second-order Theory of Error Propagation on Motion Groups

(2008) Yunfeng Wang et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Location of legged robots in outdoor environments

(2008) J.A. Cobano et al.   ROBOTICS AND AUTONOMOUS SYSTEMS