Robert E. Mahony

ORCID

Publication Activity (10 Years)

Years Active: 1994-2024
Publications (10 Years): 142

Top Venues

Publications

Alessandro Fornasier, Pieter van Goor, Eren Allak, Robert E. Mahony, Stephan Weiss
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-Aided Inertial Navigation. IEEE Robotics Autom. Lett. 9 (1) (2024)
Yixiao Ge, Pieter van Goor, Robert E. Mahony
A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups. IEEE Control. Syst. Lett. 8 (2024)
Yixiao Ge, Behzad Zamani, Pieter van Goor, Jochen Trumpf, Robert E. Mahony
Geometric Data Fusion for Collaborative Attitude Estimation. CoRR (2024)
Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Martin Scheiber, Andrew Tridgell, Robert E. Mahony, Stephan Weiss
An Equivariant Approach to Robust State Estimation for the ArduPilot Autopilot System. ICRA (2024)
Tarek Bouazza, Robert E. Mahony, Tarek Hamel
Exploiting polar symmetry in designing equivariant observers for vision-based motion estimation. CoRR (2024)
Yixiao Ge, Pieter van Goor, Robert E. Mahony
A Geometric Perspective on Fusing Gaussian Distributions on Lie Groups. CoRR (2024)
Ziwei Wang, Yonhon Ng, Cedric Scheerlinck, Robert E. Mahony
An Asynchronous Linear Filter Architecture for Hybrid Event-Frame Cameras. IEEE Trans. Pattern Anal. Mach. Intell. 46 (2) (2024)
Matthew Hampsey, Pieter van Goor, Ravi Banavar, Robert E. Mahony
Exploiting Equivariance in the Design of Tracking Controllers for Euler-Poincare Systems on Matrix Lie Groups. CoRR (2024)
Tarek Bouazza, Robert E. Mahony, Tarek Hamel
Exploiting Polar Symmetry in Designing Equivariant Observers for Vision-Based Motion Estimation. IEEE Control. Syst. Lett. 8 (2024)
Zheyu Zhuang, Xin Yu, Robert E. Mahony
End-to-end Multi-Instance Robotic Reaching from Monocular Vision. CoRR (2024)
Juan David Adarve, Robert E. Mahony
Real-time Structure Flow. CoRR (2024)
Matthew Hampsey, Pieter van Goor, Robert E. Mahony
Exploiting spatial group error and synchrony for a unicycle tracking controller. CoRR (2023)
Ziwei Wang, Timothy Molloy, Pieter van Goor, Robert E. Mahony
Event Blob Tracking: An Asynchronous Real-Time Algorithm. CoRR (2023)
Pieter van Goor, Tarek Hamel, Robert E. Mahony
Constructive Equivariant Observer Design for Inertial Navigation. CoRR (2023)
Pieter van Goor, Robert E. Mahony, Manuel Schaller, Karl Worthmann
Reprojection Methods for Koopman-Based Modelling and Prediction. CDC (2023)
Yasir Latif, Peter Anastasiou, Yonhon Ng, Zebb Prime, Tien-Fu Lu, Matthew Tetlow, Robert E. Mahony, Tat-Jun Chin
High Frequency, High Accuracy Pointing onboard Nanosats using Neuromorphic Event Sensing and Piezoelectric Actuation. CoRR (2023)
Yixiao Ge, Pieter van Goor, Robert E. Mahony
A Note on the Extended Kalman Filter on a Manifold. CoRR (2023)
Tarek Bouazza, Pieter van Goor, Robert E. Mahony, Tarek Hamel
Nonlinear constructive observer design for direct homography estimation. CoRR (2023)
Alessandro Fornasier, Yixiao Ge, Pieter van Goor, Robert E. Mahony, Stephan Weiss
Equivariant Symmetries for Inertial Navigation Systems. CoRR (2023)
Pieter van Goor, Tarek Hamel, Robert E. Mahony
Equivariant Filter (EqF). IEEE Trans. Autom. Control. 68 (6) (2023)
Tarek Bouazza, Katrina Ashton, Pieter van Goor, Robert E. Mahony, Tarek Hamel
Equivariant Filter for Feature-Based Homography Estimation for General Camera Motion. CDC (2023)
Ningbo Li, Pablo Borja, Jacquelien M. A. Scherpen, Arjan van der Schaft, Robert E. Mahony
Passivity-Based Trajectory Tracking and Formation Control of Nonholonomic Wheeled Robots Without Velocity Measurements. IEEE Trans. Autom. Control. 68 (12) (2023)
Yixiao Ge, Pieter van Goor, Robert E. Mahony
A Note on the Extended Kalman Filter on a Manifold. CDC (2023)
Pieter van Goor, Robert E. Mahony
EqVIO: An Equivariant Filter for Visual-Inertial Odometry. IEEE Trans. Robotics 39 (5) (2023)
Ziwei Wang, Yonhon Ng, Cedric Scheerlinck, Robert E. Mahony
An Asynchronous Linear Filter Architecture for Hybrid Event-Frame Cameras. CoRR (2023)
Pieter van Goor, Tarek Hamel, Robert E. Mahony
Synchronous Observer Design for Inertial Navigation Systems with Almost-Global Convergence. CoRR (2023)
Pieter van Goor, Robert E. Mahony, Manuel Schaller, Karl Worthmann
Reprojection methods for Koopman-based modelling and prediction. CoRR (2023)
Zheyu Zhuang, Yizhak Ben-Shabat, Jiahao Zhang, Stephen Gould, Robert E. Mahony
GoferBot: A Visual Guided Human-Robot Collaborative Assembly System. CoRR (2023)
Alessandro Fornasier, Pieter van Goor, Eren Allak, Robert E. Mahony, Stephan Weiss
MSCEqF: A Multi State Constraint Equivariant Filter for Vision-aided Inertial Navigation. CoRR (2023)
Yonhon Ng, Pieter van Goor, Tarek Hamel, Robert E. Mahony
Equivariant Observers for Second-Order Systems on Matrix Lie Groups. IEEE Trans. Autom. Control. 68 (4) (2023)
Yixiao Ge, Pieter van Goor, Robert E. Mahony
Equivariant Filter Design for Discrete-time Systems. CDC (2022)
Alessandro Fornasier, Yonhon Ng, Christian Brommer, Christoph Böhm, Robert E. Mahony, Stephan Weiss
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration. CoRR (2022)
Yonhon Ng, Yasir Latif, Tat-Jun Chin, Robert E. Mahony
Asynchronous Kalman Filter for Event-Based Star Tracking. ECCV Workshops (1) (2022)
Tarek Bouazza, Tarek Hamel, Minh-Duc Hua, Robert E. Mahony
Homography-based Riccati observer design for camera pose estimation. CDC (2022)
Ziwei Wang, Dingran Yuan, Yonhon Ng, Robert E. Mahony
A Linear Comb Filter for Event Flicker Removal. ICRA (2022)
Alessandro Fornasier, Yonhon Ng, Christian Brommer, Christoph Böhm, Robert E. Mahony, Stephan Weiss
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration. IEEE Robotics Autom. Lett. 7 (4) (2022)
Alessandro Fornasier, Yonhon Ng, Robert E. Mahony, Stephan Weiss
Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases. CoRR (2022)
Yixiao Ge, Pieter van Goor, Robert E. Mahony
Equivariant Filter Design for Discrete-time systems. CoRR (2022)
Matthew Hampsey, Pieter van Goor, Tarek Hamel, Robert E. Mahony
Exploiting Different Symmetries for Trajectory Tracking Control with Application to Quadrotors. CoRR (2022)
Pieter van Goor, Robert E. Mahony
EqVIO: An Equivariant Filter for Visual Inertial Odometry. CoRR (2022)
Hiya Gada, Pieter van Goor, Ravi Banavar, Robert E. Mahony
Equivariant Filters are Equivariant. CoRR (2022)
Matthew Hampsey, Pieter van Goor, Robert E. Mahony
Tracking control on homogeneous spaces: the Equivariant Regulator (EqR). CoRR (2022)
Ziwei Wang, Yonhon Ng, Jack Henderson, Robert E. Mahony
Smart Visual Beacons with Asynchronous Optical Communications using Event Cameras. IROS (2022)
Zheyu Zhuang, Yizhak Ben-Shabat, Jiahao Zhang, Stephen Gould, Robert E. Mahony
GoferBot: A Visual Guided Human-Robot Collaborative Assembly System. IROS (2022)
Pieter van Goor, Tarek Hamel, Robert E. Mahony
Constructive Equivariant Observer Design for Inertial Velocity-Aided Attitude. CoRR (2022)
Ziwei Wang, Yonhon Ng, Jack Henderson, Robert E. Mahony
Smart Visual Beacons with Asynchronous Optical Communications using Event Cameras. CoRR (2022)
Ziwei Wang, Dingran Yuan, Yonhon Ng, Robert E. Mahony
A Linear Comb Filter for Event Flicker Removal. CoRR (2022)
Alessandro Fornasier, Yonhon Ng, Robert E. Mahony, Stephan Weiss
Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases. ICRA (2022)
Robert E. Mahony, Pieter van Goor, Tarek Hamel
Observer Design for Nonlinear Systems with Equivariance. Annu. Rev. Control. Robotics Auton. Syst. 5 (2022)
Pieter van Goor, Robert E. Mahony
Autonomous Error and Constructive Observer Design for Group Affine Systems. CDC (2021)
Gerard Kennedy, Zheyu Zhuang, Xin Yu, Robert E. Mahony
Iterative Optimisation with an Innovation CNN for Pose Refinement. CoRR (2021)
Simone De Marco, Minh-Duc Hua, Robert E. Mahony, Tarek Hamel
Homography Estimation of a Moving Planar Scene From Direct Point Correspondence. IEEE Trans. Control. Syst. Technol. 29 (3) (2021)
Jack Henderson, Mohammad Zamani, Robert E. Mahony, Jochen Trumpf
Inertial Collaborative Localisation for Autonomous Vehicles using a Minimum Energy Filter. CoRR (2021)
Ziwei Wang, Liyuan Pan, Yonhon Ng, Zheyu Zhuang, Robert E. Mahony
Stereo Hybrid Event-Frame (SHEF) Cameras for 3D Perception. CoRR (2021)
Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf
Constructive observer design for Visual Simultaneous Localisation and Mapping. Autom. 132 (2021)
Ziwei Wang, Yonhon Ng, Cedric Scheerlinck, Robert E. Mahony
An Asynchronous Kalman Filter for Hybrid Event Cameras. ICCV (2021)
Ziwei Wang, Liyuan Pan, Yonhon Ng, Zheyu Zhuang, Robert E. Mahony
Stereo Hybrid Event-Frame (SHEF) Cameras for 3D Perception. IROS (2021)
Robert E. Mahony, Pieter van Goor, Tarek Hamel
Observer Design for Nonlinear Systems with Equivariance. CoRR (2021)
Pieter van Goor, Tarek Hamel, Robert E. Mahony
Equivariant filter (EqF): A general filter design for systems on homogeneous spaces. CoRR (2021)
Robert E. Mahony
A Novel Passivity-Based Trajectory Tracking Control For Conservative Mechanical Systems. CoRR (2021)
Yonhon Ng, Pieter van Goor, Robert E. Mahony, Tarek Hamel
Attitude Observation for Second Order Attitude Kinematics. CoRR (2021)
Yonhon Ng, Pieter van Goor, Tarek Hamel, Robert E. Mahony
Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups. CoRR (2021)
Pieter van Goor, Robert E. Mahony
An Equivariant Filter for Visual Inertial Odometry. CoRR (2021)
Zheyu Zhuang, Xin Yu, Robert E. Mahony
End-to-end Multi-Instance Robotic Reaching from Monocular Vision. ICRA (2021)
Robert E. Mahony, Tarek Hamel, Jochen Trumpf
An homogeneous space geometry for simultaneous localisation and mapping. Annu. Rev. Control. 51 (2021)
Pieter van Goor, Robert E. Mahony
An Equivariant Filter for Visual Inertial Odometry. ICRA (2021)
Gerard Kennedy, Jin Gao, Zheyu Zhuang, Xin Yu, Robert E. Mahony
A General Approach to State Refinement. IROS (2021)
Robert E. Mahony, Jochen Trumpf
Equivariant Filter Design for Kinematic Systems on Lie Groups. CoRR (2020)
Frank Dellaert, David M. Rosen, Jing Wu, Robert E. Mahony, Luca Carlone
. CoRR (2020)
Jun Zhang, Mina Henein, Robert E. Mahony, Viorela Ila
Robust Ego and Object 6-DoF Motion Estimation and Tracking. IROS (2020)
Robert E. Mahony, Pieter van Goor, Mina Henein, Ryan Pike, Jun Zhang, Yonhon Ng
Equivariant Visual Odometry in the Wild. CDC (2020)
Timo Stoffregen, Cedric Scheerlinck, Davide Scaramuzza, Tom Drummond, Nick Barnes, Lindsay Kleeman, Robert E. Mahony
Reducing the Sim-to-Real Gap for Event Cameras. ECCV (27) (2020)
Timo Stoffregen, Cedric Scheerlinck, Davide Scaramuzza, Tom Drummond, Nick Barnes, Lindsay Kleeman, Robert E. Mahony
How to Train Your Event Camera Neural Network. CoRR (2020)
Ziwei Wang, Yonhon Ng, Pieter van Goor, Robert E. Mahony
Event Camera Calibration of Per-pixel Biased Contrast Threshold. CoRR (2020)
Shu Liu, Nick Barnes, Robert E. Mahony, Haolei Ye
Network-based structure flow estimation. DICTA (2020)
Jack Henderson, Mohammad Zamani, Robert E. Mahony, Jochen Trumpf
A Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicle. CDC (2020)
Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf
An Observer Design for Visual Simultaneous Localisation and Mapping with Output Equivariance. CoRR (2020)
Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf
Constructive Observer Design for Visual Simultaneous Localisation and Mapping. CoRR (2020)
Mina Henein, Jun Zhang, Robert E. Mahony, Viorela Ila
Dynamic SLAM: The Need For Speed. ICRA (2020)
Jack Henderson, Mohammad Zamani, Robert E. Mahony, Jochen Trumpf
A Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicle. CoRR (2020)
Minh-Duc Hua, Jochen Trumpf, Tarek Hamel, Robert E. Mahony, Pascal Morin
Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization. Autom. 115 (2020)
Cedric Scheerlinck, Henri Rebecq, Daniel Gehrig, Nick Barnes, Robert E. Mahony, Davide Scaramuzza
Fast Image Reconstruction with an Event Camera. WACV (2020)
Robert E. Mahony, Tarek Hamel, Jochen Trumpf
Equivariant Systems Theory and Observer Design. CoRR (2020)
Pieter van Goor, Tarek Hamel, Robert E. Mahony
Equivariant Filter (EqF): A General Filter Design for Systems on Homogeneous Spaces. CDC (2020)
Pieter van Goor, Tarek Hamel, Robert E. Mahony
Equivariant Filter (EqF). CoRR (2020)
Zheyu Zhuang, Xin Yu, Robert E. Mahony
LyRN (Lyapunov Reaching Network): A Real-Time Closed Loop approach from Monocular Vision. ICRA (2020)
Mina Henein, Jun Zhang, Robert E. Mahony, Viorela Ila
Dynamic SLAM: The Need For Speed. CoRR (2020)
Frank Dellaert, David M. Rosen, Jing Wu, Robert E. Mahony, Luca Carlone
. ECCV (6) (2020)
Zheyu Zhuang, Xin Yu, Robert E. Mahony
LyRN (Lyapunov Reaching Network): A Real-Time Closed Loop approach from Monocular Vision. CoRR (2020)
Jun Zhang, Mina Henein, Robert E. Mahony, Viorela Ila
Robust Ego and Object 6-DoF Motion Estimation and Tracking. CoRR (2020)
Jun Zhang, Mina Henein, Robert E. Mahony, Viorela Ila
VDO-SLAM: A Visual Dynamic Object-aware SLAM System. CoRR (2020)
Yonhon Ng, Pieter van Goor, Tarek Hamel, Robert E. Mahony
Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups. CDC (2020)
Ziwei Wang, Yonhon Ng, Cedric Scheerlinck, Robert E. Mahony
An Asynchronous Kalman Filter for Hybrid Event Cameras. CoRR (2020)
Yonhon Ng, Pieter van Goor, Robert E. Mahony, Tarek Hamel
Attitude Observation for Second Order Attitude Kinematics. CDC (2019)
Cedric Scheerlinck, Henri Rebecq, Timo Stoffregen, Nick Barnes, Robert E. Mahony, Davide Scaramuzza
CED: Color Event Camera Dataset. CoRR (2019)
Cedric Scheerlinck, Nick Barnes, Robert E. Mahony
Asynchronous Spatial Image Convolutions for Event Cameras. IEEE Robotics Autom. Lett. 4 (2) (2019)
Zheyu Zhuang, Jürgen Leitner, Robert E. Mahony
Learning Real-time Closed Loop Robotic Reaching from Monocular Vision by Exploiting A Control Lyapunov Function Structure. IROS (2019)
Cedric Scheerlinck, Henri Rebecq, Timo Stoffregen, Nick Barnes, Robert E. Mahony, Davide Scaramuzza
CED: Color Event Camera Dataset. CVPR Workshops (2019)
Ehab Salahat, Charles-Alexis Asselineau, Joe Coventry, Robert E. Mahony
Waypoint Planning for Autonomous Aerial Inspection of Large-Scale Solar Farms. IECON (2019)
Pieter van Goor, Robert E. Mahony, Tarek Hamel, Jochen Trumpf
An Equivariant Observer Design for Visual Localisation and Mapping. CoRR (2019)

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Publication Activity (10 Years)

Top Topics

Top Venues

Robert E. Mahony