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 …

The ride comfort of emergency rescue vehicles is considerably affected by the terrain
preview accuracy. In this paper, a robust, precise terrain preview detection system that …

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 …

This paper builds on recent work on Simultaneous Localisation and Mapping (SLAM) in the
non-linear observer community, by framing the visual localisation and mapping problem as …

The design of a globally convergent position observer for feature points from visual
information is a challenging problem, especially for the case with only inertial measurements …

In this paper we propose a novel observer to solve the problem of visual simultaneous
localization and mapping (SLAM), only using the information from a single monocular …

This paper introduces a new parameterization for the problem of visual inertial simultaneous
localization and mapping (VI-SLAM), ie for a robot only equipped with a single monocular …

The problem of consensus in networked agent systems is revisited and applied to vision-
based localization. A class of new consensus dynamics is introduced first, and sufficient …

This brief presents a nonlinear observer that performs range estimation as well as gyro-bias
estimation by using velocity, angular rate, and bearing angle measurements from landmarks …

The problem of estimating velocity from a monocular camera and calibrated inertial
measurement unit (IMU) measurements is revisited. For the presented setup, it is assumed …