Ivan Dryanovski

About

Ivan Dryanovski is a leading researcher in robotics perception, state estimation, and 3D reconstruction, with a focus on enabling robust autonomy in GPS-denied environments. His most influential work, with 180 citations, presents a linear Kalman filter for MARG orientation estimation using the Algebraic Quaternion Algorithm—a breakthrough for real-time orientation tracking on low-cost, power-constrained devices used in robotics, human motion analysis, and mobile systems. Dryanovski also pioneered TSDF-based change detection for long-term dense 3D reconstruction, allowing robots to identify dynamic objects and maintain consistent maps over extended periods. His open-source pose estimation system for micro-air vehicles, cited 33 times, provides high-frequency 6-DoF pose estimates in unknown indoor spaces, advancing the accessibility of autonomous flight. Further contributions include incremental registration and real-time pose estimation with RGB-D cameras, enabling affordable, accurate camera tracking. Dryanovski’s work has been instrumental in making robust state estimation and mapping practical for resource-limited platforms, and his open-source ethos has accelerated adoption across the robotics community.

Research Focus

Key Achievements

Top Papers

1. 1
   A Linear Kalman Filter for MARG Orientation Estimation Using the Algebraic Quaternion Algorithm

   180 citations · 2015
2. 2
   TSDF-based change detection for consistent long-term dense reconstruction and dynamic object discovery

   68 citations · 2017
3. 3
   An open-source pose estimation system for micro-air vehicles

   33 citations · 2011
4. 4
   Incremental registration of RGB-D images

   15 citations · 2012
5. 5
   Real-time pose estimation with RGB-D camera

   9 citations · 2012

Key Collaborators

Contact & Links