Publications

WOLF: A modular estimation framework for robotics based on factor graphs

This letter introduces Wolf , a C++ estimation framework based on factor graphs and targeted at mobile robotics. Wolf can be used …

Joan Solà, Joan Vallvé, Joaquim Casals, Jérémie Deray, Médéric Fourmy, Dinesh Atchuthan, Andreu Corominas-Murtra, Juan Andrade-Cetto

Manif: A micro Lie theory library for state estimation in robotics applications

J. Deray, J. Solà

Timed-elastic smooth curve optimization for mobile-base motion planning

This paper proposes the use of piecewise C^n smooth curve for mobile-base motion planning and control, coined Timed-Elastic Smooth …

J. Deray, B. Magyar, J. Solà, J. Andrade-Cetto

Timed-Elastic Bands for Manipulation Motion Planning

Motion planning is one of the main problems studied in the field of robotics. However, it is still challenging for the state-of-the-art …

B. Magyar, N. Tsiogkas, J. Deray, S. Pfeiffer, D. Lane

Joint on-manifold self-calibration of odometry model and sensor extrinsics using pre-integration

This paper describes a self-calibration procedure that jointly estimates the extrinsic parameters of an exteroceptive sensor able to …

J. Deray, J. Solà, J. Andrade-Cetto

A micro Lie theory for state estimation in robotics

A Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations …

Joan Solà, Jeremie Deray, Dinesh Atchuthan

Word ordering and document adjacency for large loop closure detection in 2D laser maps

We address in this letter the problem of loop closure detection for laser-based simultaneous localization and mapping (SLAM) of very …

J. Deray, J. Solà, J. Andrade-Cetto

Hand Gestures Recognition and Tracking

In this project we develop a system that uses low cost web cameras to recognise gestures and track 2D orientations of the hand. This …

D. Gurung, C. Jiang, J. Deray, D. Sidibé