A non-linear symmetry-preserving observer for velocity-aided inertial navigation. - Silvère Bonnabel; Philippe Martin 001; Pierre Rouchon (ACC, 2006)

Left-invariant extended Kalman filter and attitude estimation. - Silvère Bonnabel (CDC, 2007)

Coordination on Lie groups. - Alain Sarlette; Silvère Bonnabel; Rodolphe Sepulchre (CDC, 2008)

Symmetry-Preserving Observers. - Silvère Bonnabel; Philippe Martin 001; Pierre Rouchon (IEEE Trans. Autom. Control., 2008)

Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem. - Silvère Bonnabel; Philippe Martin 001; Erwan Salaün (CDC, 2009)

Observer-based Hamiltonian identification for quantum systems. - Silvère Bonnabel; Mazyar Mirrahimi; Pierre Rouchon (Autom., 2009)

Riemannian Metric and Geometric Mean for Positive Semidefinite Matrices of Fixed Rank. - Silvère Bonnabel; Rodolphe Sepulchre (SIAM J. Matrix Anal. Appl., 2009)

Non-Linear Symmetry-Preserving Observers on Lie Groups. - Silvère Bonnabel; Philippe Martin 001; Pierre Rouchon (IEEE Trans. Autom. Control., 2009)

A Simple Intrinsic Reduced-Observer for Geodesic Flow. - Silvère Bonnabel (IEEE Trans. Autom. Control., 2010)

Coordinated Motion Design on Lie Groups. - Alain Sarlette; Silvère Bonnabel; Rodolphe Sepulchre (IEEE Trans. Autom. Control., 2010)

Contraction and observer design on cones. - Silvère Bonnabel; Alessandro Astolfi; Rodolphe Sepulchre (CDC/ECC, 2011)

A simple nonlinear filter for low-cost ground vehicle localization system. - Silvère Bonnabel; Jean-Emmanuel Deschaud; Erwan Salaün (CDC/ECC, 2011)

Linear Regression under Fixed-Rank Constraints: A Riemannian Approach. - Gilles Meyer; Silvère Bonnabel; Rodolphe Sepulchre (ICML, 2011)

Symmetries in observer design: review of some recent results and applications to EKF-based SLAM - Silvère Bonnabel (CoRR, 2011)

Regression on Fixed-Rank Positive Semidefinite Matrices: A Riemannian Approach. - Gilles Meyer; Silvère Bonnabel; Rodolphe Sepulchre (J. Mach. Learn. Res., 2011)

Symmetry-Based Observers for Some Water-Tank Problems. - Didier Auroux; Silvère Bonnabel (IEEE Trans. Autom. Control., 2011)

Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering. - Thibault Hervier; Silvère Bonnabel; François Goulette (IROS, 2012)

The geometry of low-rank Kalman filters - Silvère Bonnabel; Rodolphe Sepulchre (CoRR, 2012)

An anisotropy preserving metric for DTI processing - Anne Collard; Silvère Bonnabel; Christophe Phillips; Rodolphe Sepulchre (CoRR, 2012)

A contraction theory-based analysis of the stability of the Extended Kalman Filter - Silvère Bonnabel; Jean-Jacques E. Slotine (CoRR, 2012)

Intrinsic filtering on SO(3) with discrete-time observations. - Axel Barrau; Silvère Bonnabel (CDC, 2013)

Contraction-based design of positive observers. - Thach Ngoc Dinh; Silvère Bonnabel; Rodolphe Sepulchre (CDC, 2013)

A Note on the Intrinsic Cramer-Rao Bound. - Axel Barrau; Silvère Bonnabel (GSI, 2013)

Humanoid robot navigation: From a visual SLAM to a visual compass. - Émilie Wirbel; Bruno Steux; Silvère Bonnabel; Arnaud de La Fortelle (ICNSC, 2013)

Priority-based coordination of robots. - Jean Gregoire; Silvère Bonnabel; Arnaud de La Fortelle (CoRR, 2013)

Optimal cooperative motion planning for vehicles at intersections. - Jean Gregoire; Silvère Bonnabel; Arnaud de La Fortelle (CoRR, 2013)

Stochastic Gradient Descent on Riemannian Manifolds. - Silvère Bonnabel (IEEE Trans. Autom. Control., 2013)

Experimental implementation of an Invariant Extended Kalman Filter-based scan matching SLAM. - Martin Barczyk; Silvère Bonnabel; Jean-Emmanuel Deschaud; François Goulette (ACC, 2014)

Invariant particle filtering with application to localization. - Axel Barrau; Silvère Bonnabel (CDC, 2014)

Priority-based intersection management with kinodynamic constraints. - Jean Gregoire; Silvère Bonnabel; Arnaud de La Fortelle (ECC, 2014)

Observability, Covariance and Uncertainty of ICP Scan Matching. - Martin Barczyk; Silvère Bonnabel; François Goulette (CoRR, 2014)

Fixed-rank matrix factorizations and Riemannian low-rank optimization. - Bamdev Mishra; Gilles Meyer; Silvère Bonnabel; Rodolphe Sepulchre (Comput. Stat., 2014)

Anisotropy Preserving DTI Processing. - Anne Collard; Silvère Bonnabel; Christophe Phillips; Rodolphe Sepulchre (Int. J. Comput. Vis., 2014)

Humanoid Robot Navigation: Getting Localization Information from Vision. - Émilie Wirbel; Silvère Bonnabel; Arnaud de La Fortelle; Fabien Moutarde (J. Intell. Syst., 2014)

Invariant filtering for Pose EKF-SLAM aided by an IMU. - Axel Barrau; Silvère Bonnabel (CDC, 2015)

An intrinsic Cramér-Rao bound on SO(3) for (dynamic) attitude filtering. - Silvère Bonnabel; Axel Barrau (CDC, 2015)

An Intrinsic Cramér-Rao Bound on Lie Groups. - Silvère Bonnabel; Axel Barrau (GSI, 2015)

An invariant Linear Quadratic Gaussian controller for a simplified car. - Sebastien Diemer; Silvère Bonnabel (ICRA, 2015)

An EKF-SLAM algorithm with consistency properties. - Axel Barrau; Silvère Bonnabel (CoRR, 2015)

Intrinsic Filtering on Lie Groups With Applications to Attitude Estimation. - Axel Barrau; Silvère Bonnabel (IEEE Trans. Autom. Control., 2015)

A Contraction Theory-Based Analysis of the Stability of the Deterministic Extended Kalman Filter. - Silvère Bonnabel; Jean-Jacques E. Slotine (IEEE Trans. Autom. Control., 2015)

Invariant EKF Design for Scan Matching-Aided Localization. - Martin Barczyk; Silvère Bonnabel; Jean-Emmanuel Deschaud; François Goulette (IEEE Trans. Control. Syst. Technol., 2015)

On the covariance of ICP-based scan-matching techniques. - Silvère Bonnabel; Martin Barczyk; François Goulette (ACC, 2016)

Towards realistic covariance estimation of ICP-based Kinect V1 scan matching: The 1D case. - Martin Barczyk; Silvère Bonnabel (ACC, 2017)

Symmetry reduction for dynamic programming and application to MRI. - John N. Maidens; Axel Barrau; Silvère Bonnabel; Murat Arcak (ACC, 2017)

Kalman filtering with a class of geometric state equality constraints. - Paul Chauchat; Axel Barrau; Silvère Bonnabel (CDC, 2017)

Tracking the Frenet-Serret frame associated to a highly maneuvering target in 3D. - Marion Pilté; Silvère Bonnabel; Frédéric Barbaresco (CDC, 2017)

Particle Observers for Contracting Dynamical Systems. - Silvère Bonnabel; Jean-Jacques E. Slotine (GSI, 2017)

Drone Tracking Using an Innovative UKF. - Marion Pilté; Silvère Bonnabel; Frédéric Barbaresco (GSI, 2017)

Unscented Kalman filtering on Lie groups. - Martin Brossard; Silvère Bonnabel; Jean-Philippe Condomines (IROS, 2017)

The Invariant Extended Kalman Filter as a Stable Observer. - Axel Barrau; Silvère Bonnabel (IEEE Trans. Autom. Control., 2017)

Stochastic observers on Lie groups: a tutorial. - Axel Barrau; Silvère Bonnabel (CDC, 2018)

Particle observers for state estimation and adaptation in deterministic systems with random piecewise constant inputs. - Silvère Bonnabel; Jean-Jacques E. Slotine (CDC, 2018)

Bounds on the Covariance Matrix of a Class of Kalman-Bucy Filters for Systems with Non-Linear Dynamics. - Toni Karvonen; Silvère Bonnabel; Eric Moulines; Simo Särkkä (CDC, 2018)

Invariant Kalman Filtering for Visual Inertial SLAM. - Martin Brossard; Silvère Bonnabel; Axel Barrau (FUSION, 2018)

Unscented Kalman Filter on Lie Groups for Visual Inertial Odometry. - Martin Brossard; Silvère Bonnabel; Axel Barrau (IROS, 2018)

Invariant smoothing on Lie Groups. - Paul Chauchat; Axel Barrau; Silvère Bonnabel (IROS, 2018)

Invariant Kalman Filtering. - Axel Barrau; Silvère Bonnabel (Annu. Rev. Control. Robotics Auton. Syst., 2018)

Symmetry reduction for dynamic programming. - John Maidens; Axel Barrau; Silvère Bonnabel; Murat Arcak (Autom., 2018)

On the Accuracy Limit of Time-delay Estimation with a Band-limited Signal. - Priyanka Das 006; Jordi Vilà-Valls; Eric Chaumette; François Vincent; Loïc Davain; Silvère Bonnabel (ICASSP, 2019)

Learning Wheel Odometry and IMU Errors for Localization. - Martin Brossard; Silvère Bonnabel (ICRA, 2019)

RINS-W: Robust Inertial Navigation System on Wheels. - Martin Brossard; Axel Barrau; Silvère Bonnabel (IROS, 2019)

Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM. - Martin Brossard; Axel Barrau; Silvère Bonnabel (CoRR, 2019)

A New Approach to 3D ICP Covariance Estimation for Mobile Robotics. - Martin Brossard; Silvère Bonnabel; Axel Barrau (CoRR, 2019)

Linear observed systems on groups. - Axel Barrau; Silvère Bonnabel (Syst. Control. Lett., 2019)

A Mathematical Framework for IMU Error Propagation with Applications to Preintegration. - Axel Barrau; Silvère Bonnabel (ICRA, 2020)

A Code for Unscented Kalman Filtering on Manifolds (UKF-M). - Martin Brossard; Axel Barrau; Silvère Bonnabel (ICRA, 2020)

A real-time unscented Kalman filter on manifolds for challenging AUV navigation. - Théophile Cantelobre; Clément Chahbazian; Arnaud Croux; Silvère Bonnabel (IROS, 2020)

A New Approach to 3D ICP Covariance Estimation. - Martin Brossard; Silvère Bonnabel; Axel Barrau (IEEE Robotics Autom. Lett., 2020)

Denoising IMU Gyroscopes With Deep Learning for Open-Loop Attitude Estimation. - Martin Brossard; Silvère Bonnabel; Axel Barrau (IEEE Robotics Autom. Lett., 2020)

On Stability of a Class of Filters for Nonlinear Stochastic Systems. - Toni Karvonen; Silvère Bonnabel; Eric Moulines; Simo Särkkä (SIAM J. Control. Optim., 2020)

Extended Kalman Filtering With Nonlinear Equality Constraints: A Geometric Approach. - Axel Barrau; Silvère Bonnabel (IEEE Trans. Autom. Control., 2020)

AI-IMU Dead-Reckoning. - Martin Brossard; Axel Barrau; Silvère Bonnabel (IEEE Trans. Intell. Veh., 2020)

NNAKF: A Neural Network Adapted Kalman Filter for Target Tracking. - Sami Jouaber; Silvère Bonnabel; Santiago Velasco-Forero; Marion Pilté (ICASSP, 2021)

Factor Graph-Based Smoothing Without Matrix Inversion for Highly Precise Localization. - Paul Chauchat; Axel Barrau; Silvère Bonnabel (IEEE Trans. Control. Syst. Technol., 2021)

Invariant Smoothing with low process noise. - Paul Chauchat; Silvère Bonnabel; Axel Barrau (CDC, 2022)

The continuous-discrete variational Kalman filter (CD-VKF). - Marc Lambert; Silvère Bonnabel; Francis R. Bach (CDC, 2022)

Variational inference via Wasserstein gradient flows. - Marc Lambert; Sinho Chewi; Francis R. Bach; Silvère Bonnabel; Philippe Rigollet (NeurIPS, 2022)

The recursive variational Gaussian approximation (R-VGA). - Marc Lambert; Silvère Bonnabel; Francis R. Bach (Stat. Comput., 2022)

Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth. - Martin Brossard; Axel Barrau; Paul Chauchat; Silvère Bonnabel (IEEE Trans. Robotics, 2022)

Optimal Active Sensing Control for Two-Frame Systems. - Jonas Benhamou; Silvère Bonnabel; Camille Chapdelaine (CDC, 2023)

Invariant Kalman Filtering with Noise-Free Pseudo-Measurements. - Sven Goffin; Silvère Bonnabel; Olivier Brüls; Pierre Sacré (CDC, 2023)

A Computationally Efficient Global Indicator to Detect Spurious Measurement Drifts in Kalman Filtering. - Colin Parellier; Axel Barrau; Silvère Bonnabel (CDC, 2023)

Variational Gaussian Approximation of the Kushner Optimal Filter. - Marc Lambert; Silvère Bonnabel; Francis R. Bach (GSI (1), 2023)

The Geometry of Navigation Problems. - Axel Barrau; Silvère Bonnabel (IEEE Trans. Autom. Control., 2023)

Real-time Classification of Aircrafts Manoeuvers. - Sami Jouaber; Silvère Bonnabel; Santiago Velasco-Forero; Marion Pilté; Jesús Angulo (J. Signal Process. Syst., 2023)

The limited-memory recursive variational Gaussian approximation (L-RVGA). - Marc Lambert; Silvère Bonnabel; Francis R. Bach (Stat. Comput., 2023)

Speeding-Up Backpropagation of Gradients Through the Kalman Filter via Closed-Form Expressions. - Colin Parellier; Axel Barrau; Silvère Bonnabel (IEEE Trans. Autom. Control., 2023)

Invariant filtering for wheeled vehicle localization with unknown wheel radius and unknown GNSS lever arm. - Paul Chauchat; Axel Barrau; Silvère Bonnabel (CDC, 2024)

Invariant Smoothing for Localization: Including the IMU Biases. - Paul Chauchat; Axel Barrau; Silvère Bonnabel (CDC, 2024)

Variational Dynamic Programming for Stochastic Optimal Control. - Marc Lambert; Francis R. Bach; Silvère Bonnabel (CDC, 2024)

Maximum likelihood estimation of the extended Kalman filter's parameters with natural gradient. - Colin Parellier; Camille Chapdelaine; Axel Barrau; Silvère Bonnabel (CDC, 2024)

Backpropagation-Based Analytical Derivatives of EKF Covariance for Active Sensing. - Jonas Benhamou; Silvère Bonnabel; Camille Chapdelaine (IROS, 2024)

Iterated Invariant Extended Kalman Filter (IIEKF). - Sven Goffin; Axel Barrau; Silvère Bonnabel; Olivier Brüls; Pierre Sacré (CoRR, 2024)

Low-Rank Plus Diagonal Approximations for Riccati-Like Matrix Differential Equations. - Silvère Bonnabel; Marc Lambert; Francis R. Bach (SIAM J. Matrix Anal. Appl., 2024)