Nicolas Merlinge — accepted AI-conference papers

2022

Generalized Laplace Particle Filter on Lie Groups Applied to Ambiguous Doppler Navigation

Clément Chahbazian, Nicolas Merlinge, Karim Dahia, Bénédicte Winter-Bonnet, Aurélien Blanc, Christian Musso

IROS 2022poster

Particle filters are suited to solve nonlinear and non-Gaussian estimation problems which find numerous applications in autonomous systems navigation. Previous works on Laplace Particle Filter on Lie groups (LG-LPF) demonstrated its robustness and accuracy on challenging navigation scenarios compare…

Cited by 4 Source ↗Scholar ↗

2022

Improved Kalman-Particle Kernel Filter on Lie Groups Applied to Angles-Only UAV Navigation

Clément Chahbazian, Karim Dahia, Nicolas Merlinge, Bénedicte Winter-Bonnet, Kévin Honore, Christian Musso

ICRA 2022poster

Kalman-Particle Kernel Filter (KPKF) is a sub-class of Particle Filter (PF) that uses Gaussian kernels as particles, which enables a local Kalman update for each measurement in addition to the usual weight update. Besides, recent research about filtering on Lie groups brought powerful theoretical re…

Cited by 6 Source ↗Scholar ↗