Safran Electronics & Defense

Association Pour La Recherche Developpement Des Methodes Et Processus Industriels-a.r.m.in.e.s.

Thales

Manitowoc Crane Group France

Softbank Robotics Europe

Association Pour La Recherche Et Le Developpement De Methodes Et Processus Industriels “Armines”

Association Pour La Recherche Et Le Developpement Des Methodes Et Processus Industriels

Silvère Bonnabel

Axel Barrau

Bruno Steux

Arnaud De La Fortelle

Xavier Claeys

Emilie Wirbel

Sami Jouaber

Santiago Velasco-Forero

Franck Duriez

Marion Pilte

A method for estimating the state of a moving system, using a particle filter. The method implements on one reference particle an estimation of the state and includes a first set of variables and a second set of variables. A random mutation, by the particle filter, of the first set of variables is performed followed by parameterization of an extended Kalman filter using the mutated first set of variables. The Kalman filter produces a new particle using the second set of variables and data measured by at least one sensor. The second set of variables includes at least the variables: orientation, speed and position of the moving system. The Kalman filter is configured assuming that the pair of variables orientation and position has a property of invariance upon a rotation or translation and their orientation and speed has a property of invariance on application of a rotation or translation.

Invariant particle filtering

Growing community of inventors

Paris, France

Silvère Bonnabel