Natalia Pavlasek — accepted AI-conference papers

2023

Magnetic Navigation Using Attitude-Invariant Magnetic Field Information for Loop Closure Detection

Natalia Pavlasek, Charles Champagne Cossette, David Roy-Guay, James Richard Forbes

IROS 2023poster

Indoor magnetic fields are a combination of Earth's magnetic field and disruptions induced by ferromag-netic objects, such as steel structural components in buildings. As a result of these disruptions, pervasive in indoor spaces, mag-netic field data is often omitted from navigation algorithms in in…

Cited by 3 Source ↗Scholar ↗

2021

Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation

Natalia Pavlasek, Alex Walsh, James Richard Forbes

ICRA 2021poster

This paper considers the use of two position receivers and an inertial measurement unit (IMU) to estimate the position, velocity, and attitude of a rigid body, collectively called extended pose. The measurement model consisting of the position of one receiver and the relative position between the tw…

Cited by 14 Source ↗Scholar ↗