Equivariance is a common and natural property of many nonlinear control systems,
especially those associated with models of mechatronic and navigation systems. Such …

A wide range of system models in modern robotics and avionics applications admit natural
symmetries. Such systems are termed equivariant and the structure provided by the …

Visual Inertial Odometry (VIO) is of great interest due the ubiquity of devices equipped with
both a monocular camera and Inertial Measurement Unit (IMU). Methods based on the …

Although homography estimation from correspondences of mixed-type features, namely
points and lines, has been relatively well studied with algebraic approaches by the computer …

Abstract Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem
in robotics with a large range of applications. This paper presents a novel approach to …

In this paper, we focus on developing an Invariant Extended Kalman Filter (IEKF) for
extended pose estimation for a noisy system with state equality constraints. We treat those …

Respecting the geometry of the underlying system and exploiting its symmetry have been
driving concepts in deriving modern geometric filters for inertial navigation systems (INSs) …

This paper investigates the global convergence problem of SLAM algorithms, a problem that
has been subject to topological obstacles. This is due to the fact that state-space of attitude …

Accurately estimating camera motion from image sequences poses a significant challenge
in computer vision and robotics. Many computer vision methods first compute the essential …

Algorithms that estimate the navigation states and local environment of a robotic vehicle are
core enabling technologies for autonomous systems. The first work that exploited symmetry …