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Author

F. Dellaert

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2 papers indexed here

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Preprint Sep 2026

Equivariant Filter Design for Acoustic and Depth Aided Inertial Navigation Systems

Autonomous Underwater Vehicles (AUVs) navigating without GPS typically fuse inertial measurements with acoustic Doppler Velocity Log (DVL) velocities and pressure-derived depth. Posing the navigation state on a Lie group improves accuracy and consistency. However, state-of-the-art filters based on the Invariant Extende...

Arihant Lunawat, Pieter van Goor, F. Dellaert et al. · 0 citations
Open access Sep 2026

FAST-Sync: Fast Group Synchronization for Any Matrix Lie Group

Experimental evaluation across several GS tasks demonstrates that <italic>Fast-Sync</italic> provides high-quality initializations that enable local optimizers to efficiently recover globally optimal GS solutions, achieving high success rates even with considerable measurement noise.

Shane Holmes, Yiran Luo, Firat Taxpulat et al. · 1 citation

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