Basic Lie Theory, World Scientific, p.12, 2007. ,
Optimization algorithms on matrix manifolds, pp.85-90, 2009. ,
DOI : 10.1515/9781400830244
URL : http://hdl.handle.net/1885/17178
Cubature Kalman Filtering for Continuous-Discrete Systems: Theory and Simulations, IEEE Transactions on Signal Processing, vol.58, issue.10, pp.4977-4993, 2010. ,
DOI : 10.1109/TSP.2010.2056923
A stochastic algorithm finding generalized means on compact manifolds, Stochastic Processes and their Applications, pp.3463-3479, 2014. ,
DOI : 10.1016/j.spa.2014.05.011
URL : https://hal.archives-ouvertes.fr/hal-00826532
A Log-Euclidean Framework for Statistics on Diffeomorphisms, pp.924-931, 2006. ,
DOI : 10.1007/11866565_113
URL : https://hal.archives-ouvertes.fr/inria-00615594
A Cheeger Inequality for the Graph Connection Laplacian, SIAM Journal on Matrix Analysis and Applications, vol.34, issue.4, p.112, 2012. ,
DOI : 10.1137/120875338
Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems, IEEE Transactions on Robotics, vol.30, issue.3, pp.679-693, 2014. ,
DOI : 10.1109/TRO.2014.2298059
Invariant particle filtering with application to localization, 53rd IEEE Conference on Decision and Control, p.173, 2014. ,
DOI : 10.1109/CDC.2014.7040265
Intrinsic Filtering on Lie Groups With Applications to Attitude Estimation, Automatic Control, pp.436-449, 2015. ,
DOI : 10.1109/TAC.2014.2342911
« Surf : Speeded up robust features, Computer Vision?ECCV 2006, pp.404-417, 2006. ,
DOI : 10.1007/11744023_32
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.679.3046
« The Motor Extended Kalman Filter : A Geometric Approach for Rigid Motion Estimation, Journal of Mathematical Imaging and Vision, vol.133, pp.205-228, 2000. ,
Geometric algebra computing : in engineering and computer science, p.45, 2010. ,
DOI : 10.1007/978-1-84996-108-0
Fixed-lag Sampling Strategies for Particle Filtering SLAM, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.2433-2438, 2007. ,
DOI : 10.1109/ROBOT.2007.363684
The iterated Kalman filter update as a Gauss-Newton method, Automatic Control, pp.294-297, 1993. ,
DOI : 10.1109/9.250476
Homography-based 2D Visual Tracking and Servoing, The International Journal of Robotics Research, vol.26, issue.7, pp.661-676, 2007. ,
DOI : 10.1177/0278364907080252
« Second Order Minimum Energy Filtering on SE3 with Nonlinear Measurement Equations, Scale Space and Variational Methods in Computer Vision : 5th International Conference Proceedings. T. 9087, p.397, 2015. ,
« Incremental Least Squares Methods and the Extended Kalman Filter, In : SIAM Journal on Optimization, vol.63, pp.807-822, 1996. ,
Numerical methods for least squares problems, Siam, p.86, 1996. ,
DOI : 10.1137/1.9781611971484
Left-invariant extended Kalman filter and attitude estimation, 2007 46th IEEE Conference on Decision and Control, p.45, 2007. ,
DOI : 10.1109/CDC.2007.4434662
Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, pp.45-49, 2009. ,
DOI : 10.1109/CDC.2009.5400372
URL : https://hal.archives-ouvertes.fr/hal-00494342
Robust estimation of rotations from relative measurements by maximum likelihood, 52nd IEEE Conference on Decision and Control, p.105, 2013. ,
DOI : 10.1109/CDC.2013.6760038
Homography Based Kalman Filter for Mosaic Building. Applications to UAV position estimation, Proceedings 2007 IEEE International Conference on Robotics and Automation, pp.2004-2009, 2007. ,
DOI : 10.1109/ROBOT.2007.363616
Efficient and Robust Large-Scale Rotation Averaging, 2013 IEEE International Conference on Computer Vision, pp.112-115, 2013. ,
DOI : 10.1109/ICCV.2013.70
Stochastic Models, Information Theory, and Lie Groups, pp.978-978, 2012. ,
DOI : 10.1007/978-0-8176-4944-9
Gaussian approximation of non-linear measurement models on Lie groups, 53rd IEEE Conference on Decision and Control, 2014. ,
DOI : 10.1109/CDC.2014.7040393
Mapping Large Loops with a Single Hand-Held Camera, Robotics: Science and Systems III, p.136, 2007. ,
DOI : 10.15607/RSS.2007.III.038
« Sensecam image localisation using hierarchical SURF trees Advances in Multimedia Modeling, pp.15-26, 2009. ,
SfM with MRFs: Discrete-Continuous Optimization for Large-Scale Structure from Motion, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.35, issue.12, pp.3001-3008, 2011. ,
DOI : 10.1109/TPAMI.2012.218
Unscented Filtering for Spacecraft Attitude Estimation, Journal of Guidance, Control, and Dynamics, vol.26, issue.4, pp.536-542, 2003. ,
DOI : 10.2514/2.5102
Probabilistic Localization and Mapping in the Space of Appearance », In : I. J. Robotic Res, vol.276, pp.647-665, 2008. ,
MonoSLAM: Real-Time Single Camera SLAM, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.29, issue.6, p.65, 2007. ,
DOI : 10.1109/TPAMI.2007.1049
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.454.5419
Sequential Monte Carlo methods in practice. Sous la dir, p.44, 2001. ,
Monocular SLAM as a Graph of Coalesced Observations, 2007 IEEE 11th International Conference on Computer Vision, pp.1-8, 2007. ,
DOI : 10.1109/ICCV.2007.4409098
« Monocular simultaneous localisation and mapping, Thèse de doct, pp.136-163, 2008. ,
An evaluation of the RGB-D SLAM system, 2012 IEEE International Conference on Robotics and Automation, pp.1691-1696, 2012. ,
DOI : 10.1109/ICRA.2012.6225199
Semi-dense Visual Odometry for a Monocular Camera, 2013 IEEE International Conference on Computer Vision, pp.1449-1456, 2013. ,
DOI : 10.1109/ICCV.2013.183
Large- Scale Direct Monocular SLAM, Lecture Notes in Computer Science, vol.137, issue.159, pp.834-849, 2014. ,
DOI : 10.1007/978-3-319-10605-2_54
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.646.7193
Non-sequential structure from motion, 2011 IEEE International Conference on Computer Vision Workshops (ICCV Workshops), pp.264-271, 2011. ,
DOI : 10.1109/ICCVW.2011.6130252
Hierarchical SLAM: real-time accurate mapping of large environments, IEEE Transactions on Robotics, vol.21, issue.4, pp.588-596, 2005. ,
DOI : 10.1109/TRO.2005.844673
Analysis on Lie groups : an introduction. T. 110, pp.15-33, 2008. ,
DOI : 10.1017/CBO9780511755170
Statistical tables for biological, agricultural and medical research. » In : Statistical tables for biological, agricultural and medical research, p.105, 1949. ,
« Monte Carlo smoothing with application to audio signal enhancement, Signal Processing, pp.438-449, 2002. ,
Simultaneous Multiple Rotation Averaging Using Lagrangian Duality, Asian Conference of Computer Vision. 2012 (cf, p.106 ,
DOI : 10.1007/978-3-642-37431-9_19
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.251.3117
Vision meets robotics: The KITTI dataset, The International Journal of Robotics Research, vol.32, issue.11, p.153, 2013. ,
DOI : 10.1177/0278364913491297
Lie Groups, Physics, and Geometry : An Introduction for Physicists, Engineers and Chemists, p.6, 2008. ,
DOI : 10.1017/CBO9780511791390
Modeling instrumental activities of daily living in egocentric vision as sequences of active objects and context for alzheimer disease research, Proceedings of the 1st ACM international workshop on Multimedia indexing and information retrieval for healthcare, MIIRH '13, pp.11-14, 2013. ,
DOI : 10.1145/2505323.2505328
Combining two-view constraints for motion estimation, Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001, pp.218-225, 2001. ,
DOI : 10.1109/CVPR.2001.990963
Robust optimization of factor graphs by using condensed measurements, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, p.86, 2012. ,
DOI : 10.1109/IROS.2012.6385779
Quaternion attitude estimation for miniature air vehicles using a multiplicative extended Kalman filter, 2008 IEEE/ION Position, Location and Navigation Symposium, pp.1230-1237, 2008. ,
DOI : 10.1109/PLANS.2008.4570043
« Learning nonlinear appearance manifolds for robot localization, Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on, pp.2971-2976, 2005. ,
Multiple View Geometry in Computer Vision, p.138, 2000. ,
DOI : 10.1017/CBO9780511811685
L1 rotation averaging using the Weiszfeld algorithm, CVPR 2011, pp.3041-3048, 2011. ,
DOI : 10.1109/CVPR.2011.5995745
Kalman filtering and neural networks, Wiley Online Library, p.85, 2001. ,
DOI : 10.1002/0471221546
Accurate 3D maps from depth images and motion sensors via nonlinear Kalman filtering, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, p.45, 2012. ,
DOI : 10.1109/IROS.2012.6385597
URL : https://hal.archives-ouvertes.fr/hal-01259335
Functions of matrices : theory and computation. Siam, p.30, 2008. ,
A Classical Introduction to Modern Number Theory. T. 84, p.19, 1990. ,
Pushing the envelope of modern methods for bundle adjustment, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, p.86, 2010. ,
DOI : 10.1109/CVPR.2010.5539795
A Global Linear Method for Camera Pose Registration, 2013 IEEE International Conference on Computer Vision, p.113 ,
DOI : 10.1109/ICCV.2013.66
New extension of the Kalman filter to nonlinear systems, Signal Processing, Sensor Fusion, and Target Recognition VI, 1997. ,
DOI : 10.1117/12.280797
iSAM: Incremental Smoothing and Mapping, IEEE Transactions on Robotics, vol.24, issue.6, pp.1365-1378, 2008. ,
DOI : 10.1109/TRO.2008.2006706
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.149.9340
iSAM2: Incremental smoothing and mapping using the Bayes tree, The International Journal of Robotics Research, vol.13, issue.2, pp.216-235, 2012. ,
DOI : 10.1177/0278364911430419
Dense visual SLAM for RGB-D cameras, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2100-2106 ,
DOI : 10.1109/IROS.2013.6696650
Global error minimization in image mosaicing using graph connectivity and its applications in microscopy, Journal of Pathology Informatics, vol.2, issue.2, pp.8-108, 2012. ,
DOI : 10.4103/2153-3539.92039
Representation Theory and Noncommutative Harmonic Analysis I : Fundamental Concepts. Representations of Virasoro and Affine Algebras. T. 2, p.33, 1994. ,
DOI : 10.1007/978-3-662-03002-8
Parallel Tracking and Mapping for Small AR Workspaces, 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, pp.86-154, 2007. ,
DOI : 10.1109/ISMAR.2007.4538852
Natural Operations in Differential Geometry, p.12, 1993. ,
FrameSLAM: From Bundle Adjustment to Real-Time Visual Mapping, IEEE Transactions on Robotics, vol.24, issue.5, pp.1066-1077, 2008. ,
DOI : 10.1109/TRO.2008.2004832
A quaternion-based unscented Kalman filter for orientation tracking, Sixth International Conference of Information Fusion, 2003. Proceedings of the, pp.47-54, 2003. ,
DOI : 10.1109/ICIF.2003.177425
Video Registration to SfM Models, Computer Vision?ECCV 2014, pp.1-16, 2014. ,
DOI : 10.1007/978-3-319-10602-1_1
Monocular SLAM with locally planar landmarks via geometric rao-blackwellized particle filtering on Lie groups, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.1522-1529, 2010. ,
DOI : 10.1109/CVPR.2010.5539789
Robust loop closing over time for pose graph SLAM, The International Journal of Robotics Research, vol.32, issue.14, p.144, 2013. ,
DOI : 10.1177/0278364913498910
« Kalman Filtering for Spacecraft Attitude Estimation, Journal of Guidance, Control and Dynamics, vol.86, p.45, 1982. ,
Newton geodesic optimization on special linear group, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, p.86, 2009. ,
DOI : 10.1109/CDC.2009.5400115
Image Based Localization in Indoor Environments, 2013 Fourth International Conference on Computing for Geospatial Research and Application, pp.70-75, 2013. ,
DOI : 10.1109/COMGEO.2013.11
Real-time 6-DOF monocular visual SLAM in a large-scale environment, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.155-157, 2014. ,
DOI : 10.1109/ICRA.2014.6907055
Localization in indoor environments by querying omnidirectional visual maps using perspective images, 2012 IEEE International Conference on Robotics and Automation, pp.2189-2195 ,
DOI : 10.1109/ICRA.2012.6225134
« An iterative image registration technique with an application to stereo vision, Proceedings of the 7th international joint conference on Artificial intelligence, pp.674-679, 1981. ,
Dynamic estimation of homography transformations on the special linear group for visual servo control, 2009 IEEE International Conference on Robotics and Automation, p.86, 2009. ,
DOI : 10.1109/ROBOT.2009.5152384
Attitude Error Representations for Kalman Filtering, Journal of Guidance, Control, and Dynamics, vol.26, issue.2, p.45, 2003. ,
DOI : 10.2514/2.5048
Generalized Multiplicative Extended Kalman Filter for Aided Attitude and Heading Reference System, AIAA Guidance, Navigation, and Control Conference, p.45, 2010. ,
DOI : 10.2514/6.2010-8300
URL : https://hal.archives-ouvertes.fr/hal-00555580
Robust Rotation and Translation Estimation in Multiview Reconstruction, 2007 IEEE Conference on Computer Vision and Pattern Recognition, pp.1-8, 2007. ,
DOI : 10.1109/CVPR.2007.383115
Stochastic Models, Estimation, and Control, pp.44-71, 1979. ,
« Efficient video mosaicking by multiple loop closing Photogrammetric Image Analysis, pp.1-12, 2011. ,
Symmetry Groups and Their Applications, p.19, 1972. ,
« Gauge Freedoms and Uncertainty Modeling for 3D Computer Vision, Thèse de doct. Citeseer, p.141, 2001. ,
Global Fusion of Relative Motions for Robust, Accurate and Scalable Structure from Motion, 2013 IEEE International Conference on Computer Vision, pp.3248-3255, 2013. ,
DOI : 10.1109/ICCV.2013.403
URL : https://hal.archives-ouvertes.fr/hal-00873504
Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing, IEEE Transactions on Robotics, vol.25, issue.2, p.45, 2009. ,
DOI : 10.1109/TRO.2009.2012342
DTAM: Dense tracking and mapping in real-time, 2011 International Conference on Computer Vision, p.185, 2011. ,
DOI : 10.1109/ICCV.2011.6126513
Matrix information geometry, p.15, 2013. ,
DOI : 10.1007/978-3-642-30232-9
Outlier removal using duality, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.1450-1457 ,
DOI : 10.1109/CVPR.2010.5539800
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.205.6561
Stable Structure from Motion for Unordered Image Collections, pp.524-535, 2011. ,
DOI : 10.1007/s11263-007-0107-3
Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map, Robotica, vol.20, issue.34, pp.419-434, 2008. ,
DOI : 10.2514/2.4404
Invariant Momentum-tracking Kalman Filter for attitude estimation, 2012 IEEE International Conference on Robotics and Automation, pp.592-598, 2012. ,
DOI : 10.1109/ICRA.2012.6224562
La science et l'hypothèse, E. Flammarion, 1923. ,
« Submeter indoor localization in unmodified environments with inexpensive sensors, Intelligent Robots and Systems (IROS), pp.2039-2046, 2010. ,
Kalman filtering techniques for radar tracking, p.104, 2000. ,
An efficient particle filtering technique on the Grassmann manifold, 2010 IEEE International Conference on Acoustics, Speech and Signal Processing, p.44, 2010. ,
DOI : 10.1109/ICASSP.2010.5495828
Structure from motion for scenes with large duplicate structures, CVPR 2011, pp.3137-3144, 2011. ,
DOI : 10.1109/CVPR.2011.5995549
Extrinsic Mean of Brownian Distributions on Compact Lie Groups, IEEE Transactions on Information Theory, vol.58, issue.6, pp.3521-3535, 2012. ,
DOI : 10.1109/TIT.2012.2185680
On Unscented Kalman Filtering for State Estimation of Continuous-Time Nonlinear Systems, Automatic Control, pp.1631-1641, 2007. ,
DOI : 10.1109/TAC.2007.904453
« Rao-Blackwellized particle filter for multiple target tracking, Information Fusion, vol.81, pp.2-15, 2007. ,
Bayesian filtering and smoothing. 3, p.120, 2013. ,
Fast image-based localization using direct 2D-to-3D matching, 2011 International Conference on Computer Vision, pp.667-674, 2011. ,
DOI : 10.1109/ICCV.2011.6126302
Image Retrieval for Image-Based Localization Revisited, Procedings of the British Machine Vision Conference 2012, p.163, 2012. ,
DOI : 10.5244/C.26.76
Lie Groups and Lie Algebras in Robotics, In : NATO Science Series II : Mathematics, Physics and Chemistry, vol.25, pp.101-125, 2005. ,
DOI : 10.1007/1-4020-2307-3_5
Three-Dimensional Structure Determination from Common Lines in Cryo-EM by Eigenvectors and Semidefinite Programming, SIAM Journal on Imaging Sciences, vol.4, issue.2, pp.543-572, 2011. ,
DOI : 10.1137/090767777
Efficient Visual Search of Videos Cast as Text Retrieval, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.31, issue.4, pp.591-606, 2009. ,
DOI : 10.1109/TPAMI.2008.111
Computing MAP trajectories by representing, propagating and combining PDFs over groups, Proceedings Ninth IEEE International Conference on Computer Vision, pp.1275-1282, 2003. ,
DOI : 10.1109/ICCV.2003.1238637
Particle Filtering on Riemannian Manifolds, AIP Conference Proceedings, p.44, 2006. ,
DOI : 10.1063/1.2423278
« Realtime monocular SLAM : Why filter ?, pp.2657-2664, 2010. ,
DOI : 10.1109/robot.2010.5509636
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.157.4344
Double window optimisation for constant time visual SLAM, 2011 International Conference on Computer Vision, p.86, 2011. ,
DOI : 10.1109/ICCV.2011.6126517
A benchmark for the evaluation of RGB-D SLAM systems, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.573-580, 2012. ,
DOI : 10.1109/IROS.2012.6385773
« Robust monocular SLAM in dynamic environments, Mixed and Augmented Reality (ISMAR), 2013 IEEE International Symposium on. IEEE. 2013, pp.209-218, 2013. ,
Minimization on the Lie group SO(3) and related manifolds. Rapp. tech, p.86, 1994. ,
Probabilistic robotics, Communications of the ACM, vol.45, issue.3, p.40, 2005. ,
DOI : 10.1145/504729.504754
Bayesian Filtering on the Stiefel Manifold, 2007 2nd IEEE International Workshop on Computational Advances in Multi-Sensor Adaptive Processing, p.44, 2007. ,
DOI : 10.1109/CAMSAP.2007.4498015
« 80 million tiny images : A large data set for nonparametric object and scene recognition ». In : Pattern Analysis and Machine Intelligence, IEEE Transactions on, vol.3011, pp.1958-1970, 2008. ,
Indirect Kalman Filter for 3D Attitude Estimation, Rapp. tech. University of Minnesota, p.45, 2005. ,
Vision-aided inertial navigation for pin-point landing using observations of mapped landmarks, Journal of Field Robotics, vol.25, issue.5, pp.357-378, 2007. ,
DOI : 10.1002/rob.20189
Least-squares estimation of transformation parameters between two point patterns, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.13, issue.4, pp.376-380, 1991. ,
DOI : 10.1109/34.88573
« Error Propagation on the Euclidean Group With Applications to Manipulators Kinematics, IEEE Transactions on Robotics, vol.22, p.35, 2006. ,
Nonparametric Second-order Theory of Error Propagation on Motion Groups, The International Journal of Robotics Research, vol.27, issue.11-12, pp.1258-1273, 2008. ,
DOI : 10.1177/0278364908097583
Exact and stable recovery of rotations for robust synchronization, Information and Inference 2, pp.145-193, 2013. ,
DOI : 10.1093/imaiai/iat005
« Robust visionbased localization by combining an image-retrieval system with Monte Carlo localization, IEEE Transactions on, vol.212, pp.208-216, 2005. ,
Bayesian Fusion on Lie Groups, Journal of Algebraic Statistics, vol.2, issue.1, pp.75-97, 2011. ,
DOI : 10.18409/jas.v2i1.11
Disambiguating visual relations using loop constraints, 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp.1426-1433, 2010. ,
DOI : 10.1109/CVPR.2010.5539801
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.613.6464
Visual-lidar odometry and mapping: low-drift, robust, and fast, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp.155-158, 2015. ,
DOI : 10.1109/ICRA.2015.7139486
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.682.5614