Silvère Bonnabel

126 papers A* 6A 7C 6Misc 2Journal 74Unranked 31

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	Invariant Extended Kalman Filter for State Estimation of a Robot With an IMU on an Inclined Plane. IEEE Control. Syst. Lett. Clément Chahbazian, Axel Barrau, Silvère Bonnabel
2024	A	`conf`	Backpropagation-Based Analytical Derivatives of EKF Covariance for Active Sensing. IROS Jonas Benhamou, Silvère Bonnabel, Camille Chapdelaine
2024	J	`jnl`	Backpropagation-Based Analytical Derivatives of EKF Covariance for Active Sensing. CoRR Jonas Benhamou, Silvère Bonnabel, Camille Chapdelaine
2024	J	`jnl`	Invariant Kalman Filtering with Noise-Free Pseudo-Measurements. CoRR Sven Goffin, Silvère Bonnabel, Olivier Brüls, Pierre Sacré
2024	—	`conf`	Invariant Smoothing for Localization: Including the IMU Biases. CDC Paul Chauchat, Axel Barrau, Silvère Bonnabel
2024	—	`conf`	Invariant filtering for wheeled vehicle localization with unknown wheel radius and unknown GNSS lever arm. CDC Paul Chauchat, Axel Barrau, Silvère Bonnabel
2024	J	`jnl`	Invariant filtering for wheeled vehicle localization with unknown wheel radius and unknown GNSS lever arm. CoRR Paul Chauchat, Silvère Bonnabel, Axel Barrau
2024	J	`jnl`	Iterated Invariant Extended Kalman Filter (IIEKF). CoRR Sven Goffin, Axel Barrau, Silvère Bonnabel, Olivier Brüls, Pierre Sacré
2024	J	`jnl`	Low-Rank Plus Diagonal Approximations for Riccati-Like Matrix Differential Equations. SIAM J. Matrix Anal. Appl. Silvère Bonnabel, Marc Lambert, Francis R. Bach
2024	J	`jnl`	Low-rank plus diagonal approximations for Riccati-like matrix differential equations. CoRR Silvère Bonnabel, Marc Lambert, Francis R. Bach
2024	—	`conf`	Maximum likelihood estimation of the extended Kalman filter's parameters with natural gradient. CDC Colin Parellier, Camille Chapdelaine, Axel Barrau, Silvère Bonnabel
2024	—	`conf`	Variational Dynamic Programming for Stochastic Optimal Control. CDC Marc Lambert, Francis R. Bach, Silvère Bonnabel
2023	—	`conf`	A Computationally Efficient Global Indicator to Detect Spurious Measurement Drifts in Kalman Filtering. CDC Colin Parellier, Axel Barrau, Silvère Bonnabel
2023	—	`conf`	Invariant Kalman Filtering with Noise-Free Pseudo-Measurements. CDC Sven Goffin, Silvère Bonnabel, Olivier Brüls, Pierre Sacré
2023	J	`jnl`	Invariant Smoothing for Localization: Including the IMU Biases. CoRR Paul Chauchat, Silvère Bonnabel, Axel Barrau
2023	—	`conf`	Optimal Active Sensing Control for Two-Frame Systems. CDC Jonas Benhamou, Silvère Bonnabel, Camille Chapdelaine
2023	J	`jnl`	Real-time Classification of Aircrafts Manoeuvers. J. Signal Process. Syst. Sami Jouaber, Silvère Bonnabel, Santiago Velasco-Forero, Marion Pilté, Jesús Angulo
2023	J	`jnl`	Speeding-Up Backpropagation of Gradients Through the Kalman Filter via Closed-Form Expressions. IEEE Trans. Autom. Control. Colin Parellier, Axel Barrau, Silvère Bonnabel
2023	J	`jnl`	The Geometry of Navigation Problems. IEEE Trans. Autom. Control. Axel Barrau, Silvère Bonnabel
2023	J	`jnl`	The limited-memory recursive variational Gaussian approximation (L-RVGA). CoRR Marc Lambert, Silvère Bonnabel, Francis R. Bach
2023	J	`jnl`	The limited-memory recursive variational Gaussian approximation (L-RVGA). Stat. Comput. Marc Lambert, Silvère Bonnabel, Francis R. Bach
2023	—	`conf`	Variational Gaussian Approximation of the Kushner Optimal Filter. GSI (1) Marc Lambert, Silvère Bonnabel, Francis R. Bach
2023	J	`jnl`	Variational Gaussian approximation of the Kushner optimal filter. CoRR Marc Lambert, Silvère Bonnabel, Francis R. Bach
2022	J	`jnl`	Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth. IEEE Trans. Robotics Martin Brossard, Axel Barrau, Paul Chauchat, Silvère Bonnabel
2022	—	`conf`	Invariant Smoothing with low process noise. CDC Paul Chauchat, Silvère Bonnabel, Axel Barrau
2022	J	`jnl`	Invariant Smoothing with low process noise. CoRR Paul Chauchat, Silvère Bonnabel, Axel Barrau
2022	J	`jnl`	The Geometry of Navigation Problems. CoRR Axel Barrau, Silvère Bonnabel
2022	—	`conf`	The continuous-discrete variational Kalman filter (CD-VKF). CDC Marc Lambert, Silvère Bonnabel, Francis R. Bach
2022	J	`jnl`	The recursive variational Gaussian approximation (R-VGA). Stat. Comput. Marc Lambert, Silvère Bonnabel, Francis R. Bach
2022	A*	`conf`	Variational inference via Wasserstein gradient flows. NeurIPS Marc Lambert, Sinho Chewi, Francis R. Bach, Silvère Bonnabel, Philippe Rigollet
2022	J	`jnl`	Variational inference via Wasserstein gradient flows. CoRR Marc Lambert, Sinho Chewi, Francis R. Bach, Silvère Bonnabel, Philippe Rigollet
2021	J	`jnl`	Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization. IEEE Trans. Control. Syst. Technol. Paul Chauchat, Axel Barrau, Silvère Bonnabel
2021	Misc	`conf`	NNAKF: A Neural Network Adapted Kalman Filter for Target Tracking. ICASSP Sami Jouaber, Silvère Bonnabel, Santiago Velasco-Forero, Marion Pilté
2020	A*	`conf`	A Code for Unscented Kalman Filtering on Manifolds (UKF-M). ICRA Martin Brossard, Axel Barrau, Silvère Bonnabel
2020	J	`jnl`	A Code for Unscented Kalman Filtering on Manifolds (UKF-M). CoRR Martin Brossard, Axel Barrau, Silvère Bonnabel
2020	A*	`conf`	A Mathematical Framework for IMU Error Propagation with Applications to Preintegration. ICRA Axel Barrau, Silvère Bonnabel
2020	J	`jnl`	A Mathematical Framework for IMU Error Propagation with Applications to Preintegration. CoRR Axel Barrau, Silvère Bonnabel
2020	J	`jnl`	A New Approach to 3D ICP Covariance Estimation. IEEE Robotics Autom. Lett. Martin Brossard, Silvère Bonnabel, Axel Barrau
2020	A	`conf`	A real-time unscented Kalman filter on manifolds for challenging AUV navigation. IROS Théophile Cantelobre, Clément Chahbazian, Arnaud Croux, Silvère Bonnabel
2020	J	`jnl`	AI-IMU Dead-Reckoning. IEEE Trans. Intell. Veh. Martin Brossard, Axel Barrau, Silvère Bonnabel
2020	J	`jnl`	Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth. CoRR Martin Brossard, Axel Barrau, Paul Chauchat, Silvère Bonnabel
2020	J	`jnl`	Denoising IMU Gyroscopes With Deep Learning for Open-Loop Attitude Estimation. IEEE Robotics Autom. Lett. Martin Brossard, Silvère Bonnabel, Axel Barrau
2020	J	`jnl`	Denoising IMU Gyroscopes with Deep Learning for Open-Loop Attitude Estimation. CoRR Martin Brossard, Silvère Bonnabel, Axel Barrau
2020	J	`jnl`	Extended Kalman Filtering With Nonlinear Equality Constraints: A Geometric Approach. IEEE Trans. Autom. Control. Axel Barrau, Silvère Bonnabel
2020	J	`jnl`	Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization. CoRR Paul Chauchat, Axel Barrau, Silvère Bonnabel
2020	J	`jnl`	On Stability of a Class of Filters for Nonlinear Stochastic Systems. SIAM J. Control. Optim. Toni Karvonen, Silvère Bonnabel, Eric Moulines, Simo Särkkä
2019	J	`jnl`	A New Approach to 3D ICP Covariance Estimation for Mobile Robotics. CoRR Martin Brossard, Silvère Bonnabel, Axel Barrau
2019	J	`jnl`	AI-IMU Dead-Reckoning. CoRR Martin Brossard, Axel Barrau, Silvère Bonnabel
2019	J	`jnl`	Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM. CoRR Martin Brossard, Axel Barrau, Silvère Bonnabel
2019	A*	`conf`	Learning Wheel Odometry and IMU Errors for Localization. ICRA Martin Brossard, Silvère Bonnabel
2019	J	`jnl`	Linear observed systems on groups. Syst. Control. Lett. Axel Barrau, Silvère Bonnabel
2019	Misc	`conf`	On the Accuracy Limit of Time-delay Estimation with a Band-limited Signal. ICASSP Priyanka Das, Jordi Vilà-Valls, Eric Chaumette, François Vincent, Loïc Davain, Silvère Bonnabel
2019	A	`conf`	RINS-W: Robust Inertial Navigation System on Wheels. IROS Martin Brossard, Axel Barrau, Silvère Bonnabel
2019	J	`jnl`	RINS-W: Robust Inertial Navigation System on Wheels. CoRR Martin Brossard, Axel Barrau, Silvère Bonnabel
2018	—	`conf`	Bounds on the Covariance Matrix of a Class of Kalman-Bucy Filters for Systems with Non-Linear Dynamics. CDC Toni Karvonen, Silvère Bonnabel, Eric Moulines, Simo Särkkä
2018	C	`conf`	Invariant Kalman Filtering for Visual Inertial SLAM. FUSION Martin Brossard, Silvère Bonnabel, Axel Barrau
2018	J	`jnl`	Invariant Kalman Filtering. Annu. Rev. Control. Robotics Auton. Syst. Axel Barrau, Silvère Bonnabel
2018	J	`jnl`	Invariant Smoothing on Lie Groups. CoRR Paul Chauchat, Axel Barrau, Silvère Bonnabel
2018	A	`conf`	Invariant smoothing on Lie Groups. IROS Paul Chauchat, Axel Barrau, Silvère Bonnabel
2018	—	`conf`	Particle observers for state estimation and adaptation in deterministic systems with random piecewise constant inputs. CDC Silvère Bonnabel, Jean-Jacques E. Slotine
2018	—	`conf`	Stochastic observers on Lie groups: a tutorial. CDC Axel Barrau, Silvère Bonnabel
2018	J	`jnl`	Symmetry reduction for dynamic programming. Autom. John Maidens, Axel Barrau, Silvère Bonnabel, Murat Arcak
2018	J	`jnl`	Symmetry reduction for dynamic programming. CoRR John N. Maidens, Axel Barrau, Silvère Bonnabel, Murat Arcak
2018	A	`conf`	Unscented Kalman Filter on Lie Groups for Visual Inertial Odometry. IROS Martin Brossard, Silvère Bonnabel, Axel Barrau
2017	—	`conf`	Drone Tracking Using an Innovative UKF. GSI Marion Pilté, Silvère Bonnabel, Frédéric Barbaresco
2017	—	`conf`	Kalman filtering with a class of geometric state equality constraints. CDC Paul Chauchat, Axel Barrau, Silvère Bonnabel
2017	—	`conf`	Particle Observers for Contracting Dynamical Systems. GSI Silvère Bonnabel, Jean-Jacques E. Slotine
2017	C	`conf`	Symmetry reduction for dynamic programming and application to MRI. ACC John N. Maidens, Axel Barrau, Silvère Bonnabel, Murat Arcak
2017	J	`jnl`	The Invariant Extended Kalman Filter as a Stable Observer. IEEE Trans. Autom. Control. Axel Barrau, Silvère Bonnabel
2017	C	`conf`	Towards realistic covariance estimation of ICP-based Kinect V1 scan matching: The 1D case. ACC Martin Barczyk, Silvère Bonnabel
2017	—	`conf`	Tracking the Frenet-Serret frame associated to a highly maneuvering target in 3D. CDC Marion Pilté, Silvère Bonnabel, Frédéric Barbaresco
2017	A	`conf`	Unscented Kalman filtering on Lie groups. IROS Martin Brossard, Silvère Bonnabel, Jean-Philippe Condomines
2016	C	`conf`	On the covariance of ICP-based scan-matching techniques. ACC Silvère Bonnabel, Martin Barczyk, François Goulette
2015	J	`jnl`	A Contraction Theory-Based Analysis of the Stability of the Deterministic Extended Kalman Filter. IEEE Trans. Autom. Control. Silvère Bonnabel, Jean-Jacques E. Slotine
2015	J	`jnl`	An EKF-SLAM algorithm with consistency properties. CoRR Axel Barrau, Silvère Bonnabel
2015	—	`conf`	An Intrinsic Cramér-Rao Bound on Lie Groups. GSI Silvère Bonnabel, Axel Barrau
2015	J	`jnl`	An intrinsic Cramér-Rao bound on Lie groups. CoRR Silvère Bonnabel, Axel Barrau
2015	—	`conf`	An intrinsic Cramér-Rao bound on SO(3) for (dynamic) attitude filtering. CDC Silvère Bonnabel, Axel Barrau
2015	A*	`conf`	An invariant Linear Quadratic Gaussian controller for a simplified car. ICRA Sebastien Diemer, Silvère Bonnabel
2015	J	`jnl`	Intrinsic Filtering on Lie Groups With Applications to Attitude Estimation. IEEE Trans. Autom. Control. Axel Barrau, Silvère Bonnabel
2015	J	`jnl`	Invariant EKF Design for Scan Matching-Aided Localization. IEEE Trans. Control. Syst. Technol. Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud, François Goulette
2015	J	`jnl`	Invariant EKF Design for Scan Matching-aided Localization. CoRR Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud, François Goulette
2015	—	`conf`	Invariant filtering for Pose EKF-SLAM aided by an IMU. CDC Axel Barrau, Silvère Bonnabel
2014	J	`jnl`	An Invariant Linear Quadratic Gaussian controller for a simplified car. CoRR Sebastien Diemer, Silvère Bonnabel
2014	J	`jnl`	Anisotropy Preserving DTI Processing. Int. J. Comput. Vis. Anne Collard, Silvère Bonnabel, Christophe Phillips, Rodolphe Sepulchre
2014	J	`jnl`	Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM. CoRR Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud, François Goulette
2014	C	`conf`	Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM. ACC Martin Barczyk, Silvère Bonnabel, Jean-Emmanuel Deschaud, François Goulette
2014	J	`jnl`	Fixed-rank matrix factorizations and Riemannian low-rank optimization. Comput. Stat. Bamdev Mishra, Gilles Meyer, Silvère Bonnabel, Rodolphe Sepulchre
2014	J	`jnl`	Humanoid Robot Navigation: Getting Localization Information from Vision. J. Intell. Syst. Émilie Wirbel, Silvère Bonnabel, Arnaud de La Fortelle, Fabien Moutarde
2014	—	`conf`	Invariant particle filtering with application to localization. CDC Axel Barrau, Silvère Bonnabel
2014	J	`jnl`	Observability, Covariance and Uncertainty of ICP Scan Matching. CoRR Martin Barczyk, Silvère Bonnabel, François Goulette
2014	—	`conf`	Priority-based intersection management with kinodynamic constraints. ECC Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle
2014	J	`jnl`	The invariant extended Kalman filter as a stable observer. CoRR Axel Barrau, Silvère Bonnabel
2013	—	`conf`	A Note on the Intrinsic Cramer-Rao Bound. GSI Axel Barrau, Silvère Bonnabel
2013	—	`conf`	Contraction-based design of positive observers. CDC Thach Ngoc Dinh, Silvère Bonnabel, Rodolphe Sepulchre
2013	—	`conf`	Humanoid robot navigation: From a visual SLAM to a visual compass. ICNSC Émilie Wirbel, Bruno Steux, Silvère Bonnabel, Arnaud de La Fortelle
2013	J	`jnl`	Intrinsic filtering on Lie groups with applications to attitude estimation. CoRR Axel Barrau, Silvère Bonnabel
2013	—	`conf`	Intrinsic filtering on SO(3) with discrete-time observations. CDC Axel Barrau, Silvère Bonnabel
2013	J	`jnl`	Optimal cooperative motion planning for vehicles at intersections. CoRR Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle
2013	J	`jnl`	Priority-based coordination of robots. CoRR Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle
2013	J	`jnl`	Priority-based intersection management with kinodynamic constraints. CoRR Jean Gregoire, Silvère Bonnabel, Arnaud de La Fortelle
2013	J	`jnl`	Stochastic Gradient Descent on Riemannian Manifolds. IEEE Trans. Autom. Control. Silvère Bonnabel
2012	J	`jnl`	A contraction theory-based analysis of the stability of the Extended Kalman Filter CoRR Silvère Bonnabel, Jean-Jacques E. Slotine
2012	J	`jnl`	Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering CoRR Thibault Hervier, Silvère Bonnabel, François Goulette
2012	A	`conf`	Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering. IROS Thibault Hervier, Silvère Bonnabel, François Goulette
2012	J	`jnl`	An anisotropy preserving metric for DTI processing CoRR Anne Collard, Silvère Bonnabel, Christophe Phillips, Rodolphe Sepulchre
2012	J	`jnl`	Fixed-rank matrix factorizations and Riemannian low-rank optimization CoRR Bamdev Mishra, Gilles Meyer, Silvère Bonnabel, Rodolphe Sepulchre
2012	J	`jnl`	The geometry of low-rank Kalman filters CoRR Silvère Bonnabel, Rodolphe Sepulchre
2011	—	`conf`	A simple nonlinear filter for low-cost ground vehicle localization system. CDC/ECC Silvère Bonnabel, Jean-Emmanuel Deschaud, Erwan Salaün
2011	—	`conf`	Contraction and observer design on cones. CDC/ECC Silvère Bonnabel, Alessandro Astolfi, Rodolphe Sepulchre
2011	A*	`conf`	Linear Regression under Fixed-Rank Constraints: A Riemannian Approach. ICML Gilles Meyer, Silvère Bonnabel, Rodolphe Sepulchre
2011	J	`jnl`	Regression on Fixed-Rank Positive Semidefinite Matrices: A Riemannian Approach. J. Mach. Learn. Res. Gilles Meyer, Silvère Bonnabel, Rodolphe Sepulchre
2011	J	`jnl`	Stochastic gradient descent on Riemannian manifolds. CoRR Silvère Bonnabel
2011	J	`jnl`	Symmetries in observer design: review of some recent results and applications to EKF-based SLAM CoRR Silvère Bonnabel
2011	J	`jnl`	Symmetry-Based Observers for Some Water-Tank Problems. IEEE Trans. Autom. Control. Didier Auroux, Silvère Bonnabel
2010	J	`jnl`	A Simple Intrinsic Reduced-Observer for Geodesic Flow. IEEE Trans. Autom. Control. Silvère Bonnabel
2010	J	`jnl`	Coordinated Motion Design on Lie Groups. IEEE Trans. Autom. Control. Alain Sarlette, Silvère Bonnabel, Rodolphe Sepulchre
2010	J	`jnl`	Regression on fixed-rank positive semidefinite matrices: a Riemannian approach CoRR Gilles Meyer, Silvère Bonnabel, Rodolphe Sepulchre
2009	—	`conf`	Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem. CDC Silvère Bonnabel, Philippe Martin, Erwan Salaün
2009	J	`jnl`	Non-Linear Symmetry-Preserving Observers on Lie Groups. IEEE Trans. Autom. Control. Silvère Bonnabel, Philippe Martin, Pierre Rouchon
2009	J	`jnl`	Observer-based Hamiltonian identification for quantum systems. Autom. Silvère Bonnabel, Mazyar Mirrahimi, Pierre Rouchon
2009	J	`jnl`	Riemannian Metric and Geometric Mean for Positive Semidefinite Matrices of Fixed Rank. SIAM J. Matrix Anal. Appl. Silvère Bonnabel, Rodolphe Sepulchre
2008	—	`conf`	Coordination on Lie groups. CDC Alain Sarlette, Silvère Bonnabel, Rodolphe Sepulchre
2008	J	`jnl`	Symmetry-Preserving Observers. IEEE Trans. Autom. Control. Silvère Bonnabel, Philippe Martin, Pierre Rouchon
2007	—	`conf`	Left-invariant extended Kalman filter and attitude estimation. CDC Silvère Bonnabel
2006	C	`conf`	A non-linear symmetry-preserving observer for velocity-aided inertial navigation. ACC Silvère Bonnabel, Philippe Martin, Pierre Rouchon