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George K. I. Mann
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Journal Articles

Efficient and Consistent Two Key-Frame Visual-Inertial Navigation Using Matrix Lie Groups

Ravindu G. Thalagala, Oscar De Silva, George K. I. Mann, Raymond G. Gosine
Journal: Journal of Dynamic Systems, Measurement, and Control
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2023, 145(1): 011001.
Paper No: DS-21-1348
DOI: https://doi.org/10.1115/1.4055771
Published Online: October 22, 2022
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Topics: Algorithms, Errors, Filters, Navigation, Design, Kalman filters
Journal Articles

Developing Computationally Efficient Nonlinear Cubature Kalman Filtering for Visual Inertial Odometry

Trung Nguyen, George K. I. Mann, Andrew Vardy, Raymond G. Gosine
Journal: Journal of Dynamic Systems, Measurement, and Control
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2019, 141(8): 081012.
Paper No: DS-18-1461
DOI: https://doi.org/10.1115/1.4042951
Published Online: March 27, 2019
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Topics: Filters, Filtration, Geometry, Tensors, Sensors, Algorithms
Proceedings Papers

Developing Moving Horizon Estimation Based Ranging Measurement for Supporting Vision-Aided Inertial Navigation System

Trung Nguyen, George K. I. Mann, Andrew Vardy, Raymond G. Gosine
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T17A006, October 11–13, 2017
Paper No: DSCC2017-5185
DOI: https://doi.org/10.1115/DSCC2017-5185
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Topics: Navigation, Filters, Optimization, Sensors, Design, Dimensions, Errors, Kalman filters, Trajectories (Physics), Vehicles
Journal Articles

The Right Invariant Nonlinear Complementary Filter for Low Cost Attitude and Heading Estimation of Platforms

Oscar De Silva, George K. I. Mann, Raymond G. Gosine
Journal: Journal of Dynamic Systems, Measurement, and Control
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2018, 140(1): 011011.
Paper No: DS-16-1447
DOI: https://doi.org/10.1115/1.4037331
Published Online: September 8, 2017
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Topics: Errors, Filters, Noise (Sound), Design, Filtration, Steady state
Journal Articles

Observability Analysis of Relative Localization Filters Subjected to Platform Velocity Constraints

Oscar De Silva, George K. I. Mann, Raymond G. Gosine
Journal: Journal of Dynamic Systems, Measurement, and Control
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2017, 139(5): 051009.
Paper No: DS-16-1154
DOI: https://doi.org/10.1115/1.4035295
Published Online: March 14, 2017
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Topics: Design, Filters, Robots, Sensors, Trajectories (Physics), Nonlinear systems, Velocity measurement