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Théophile Cantelobre

2 accepted papers

2022

Measuring dissimilarity with diffeomorphism invariance

ICML 2022spotlight

Measures of similarity (or dissimilarity) are a key ingredient to many machine learning algorithms. We introduce DID, a pairwise dissimilarity measure applicable to a wide range of data spaces, which leverages the data’s internal structure to be invariant to diffeomorphisms. We prove that DID enjoys…

2020

A real-time unscented Kalman filter on manifolds for challenging AUV navigation

IROS 2020poster

We consider the problem of localization and navigation of Autonomous Underwater Vehicles (AUV) in the context of high performance subsea asset inspection missions in deep water. We propose a solution based on the recently introduced Unscented Kalman Filter on Manifolds (UKF-M) for onboard navigation…

Cited by 34SourceScholar