Alessandro Fornasier

30 papers A* 7A 3Journal 19Unranked 1
YearRankTypeTitle / Venue / Authors
2026 A* conf
Sensor Model Identification via Simultaneous Model Selection and State Variable Determination (Abstract Reprint).
AAAI
Christian Brommer, Alessandro Fornasier, Jan Steinbrener, Stephan Weiss
2025 A conf
Consistent Pose Estimation of Unmanned Ground Vehicles through Terrain-Aided Multi-Sensor Fusion on Geometric Manifolds.
IROS
Alexander Raab, Stephan Weiss, Alessandro Fornasier, Christian Brommer, Abdalrahman Ibrahim
2025 J jnl
Consistent Pose Estimation of Unmanned Ground Vehicles through Terrain-Aided Multi-Sensor Fusion on Geometric Manifolds.
CoRR
Alexander Raab, Stephan Weiss, Alessandro Fornasier, Christian Brommer, Abdalrahman Ibrahim
2025 J jnl
Equivariant IMU Preintegration With Biases: A Galilean Group Approach.
IEEE Robotics Autom. Lett.
Giulio Delama, Alessandro Fornasier, Robert E. Mahony, Stephan Weiss
2025 J jnl
Equivariant symmetries for inertial navigation systems.
Autom.
Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Robert E. Mahony, Stephan Weiss
2025 J jnl
Sensor Model Identification via Simultaneous Model Selection and State Variable Determination.
CoRR
Christian Brommer, Alessandro Fornasier, Jan Steinbrener, Stephan Weiss
2025 J jnl
Sensor Model Identification via Simultaneous Model Selection and State Variable Determination.
IEEE Trans. Robotics
Christian Brommer, Alessandro Fornasier, Jan Steinbrener, Stephan Weiss
2025 J jnl
The Difference between the Left and Right Invariant Extended Kalman Filter.
CoRR
Yixiao Ge, Giulio Delama, Martin Scheiber, Alessandro Fornasier, Pieter van Goor, Stephan Weiss, Robert E. Mahony
2024 A* conf
An Equivariant Approach to Robust State Estimation for the ArduPilot Autopilot System.
ICRA
Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Martin Scheiber, Andrew Tridgell, Robert E. Mahony, Stephan Weiss
2024 J jnl
Equivariant IMU Preintegration with Biases: a Galilean Group Approach.
CoRR
Giulio Delama, Alessandro Fornasier, Robert E. Mahony, Stephan Weiss
2024 J jnl
Equivariant Symmetries for Aided Inertial Navigation.
CoRR
Alessandro Fornasier
2024 J jnl
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation.
IEEE Robotics Autom. Lett.
Alessandro Fornasier, Pieter van Goor, Eren Allak, Robert E. Mahony, Stephan Weiss
2024 J jnl
The INSANE dataset: Large number of sensors for challenging UAV flights in Mars analog, outdoor, and out-/indoor transition scenarios.
Int. J. Robotics Res.
Christian Brommer, Alessandro Fornasier, Martin Scheiber, Jeff Delaune, Roland Brockers, Jan Steinbrener, Stephan Weiss
2023 J jnl
Equivariant Symmetries for Inertial Navigation Systems.
CoRR
Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Robert E. Mahony, Stephan Weiss
2023 J jnl
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation.
CoRR
Alessandro Fornasier, Pieter van Goor, Eren Allak, Robert E. Mahony, Stephan Weiss
2023 — conf
Revisiting Multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach.
ICAR
Martin Scheiber, Alessandro Fornasier, Christian Brommer, Stephan Weiss
2023 J jnl
Revisiting multi-GNSS Navigation for UAVs - An Equivariant Filtering Approach.
CoRR
Martin Scheiber, Alessandro Fornasier, Christian Brommer, Stephan Weiss
2023 A conf
UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization.
IROS
Giulio Delama, Farhad Shamsfakhr, Stephan Weiss, Daniele Fontanelli, Alessandro Fornasier
2023 J jnl
UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization.
CoRR
Giulio Delama, Farhad Shamsfakhr, Stephan Weiss, Daniele Fontanelli, Alessandro Fornasier
2022 J jnl
CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications.
IEEE Robotics Autom. Lett.
Martin Scheiber, Alessandro Fornasier, Roland Jung, Christoph Böhm, Rohit Dhakate, Christian Stewart, Jan Steinbrener, Stephan Weiss, Christian Brommer
2022 A* conf
Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases.
ICRA
Alessandro Fornasier, Yonhon Ng, Robert E. Mahony, Stephan Weiss
2022 J jnl
Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases.
CoRR
Alessandro Fornasier, Yonhon Ng, Robert E. Mahony, Stephan Weiss
2022 J jnl
INSANE: Cross-Domain UAV Data Sets with Increased Number of Sensors for developing Advanced and Novel Estimators.
CoRR
Christian Brommer, Alessandro Fornasier, Martin Scheiber, Jeff Delaune, Roland Brockers, Jan Steinbrener, Stephan Weiss
2022 A* conf
Improved State Propagation through AI-based Pre-processing and Down-sampling of High-Speed Inertial Data.
ICRA
Jan Steinbrener, Christian Brommer, Thomas Jantos, Alessandro Fornasier, Stephan Weiss
2022 J jnl
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration.
IEEE Robotics Autom. Lett.
Alessandro Fornasier, Yonhon Ng, Christian Brommer, Christoph Böhm, Robert E. Mahony, Stephan Weiss
2022 J jnl
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration.
CoRR
Alessandro Fornasier, Yonhon Ng, Christian Brommer, Christoph Böhm, Robert E. Mahony, Stephan Weiss
2021 A* conf
Bias Compensated UWB Anchor Initialization using Information-Theoretic Supported Triangulation Points.
ICRA
Julian Blueml, Alessandro Fornasier, Stephan Weiss
2021 A* conf
Consistent State Estimation on Manifolds for Autonomous Metal Structure Inspection.
ICRA
Bryan Starbuck, Alessandro Fornasier, Stephan Weiss, Cédric Pradalier
2021 A* conf
VINSEval: Evaluation Framework for Unified Testing of Consistency and Robustness of Visual-Inertial Navigation System Algorithms.
ICRA
Alessandro Fornasier, Martin Scheiber, Alexander Hardt-Stremayr, Roland Jung, Stephan Weiss
2020 A conf
Consistent Covariance Pre-Integration for Invariant Filters with Delayed Measurements.
IROS
Eren Allak, Alessandro Fornasier, Stephan Weiss