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09/19/2023
OASIS: Optimal Arrangements for Sensing in SLAM
The number and arrangement of sensors on an autonomous mobile robot dram...
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02/22/2023
Certifiably Correct Range-Aided SLAM
We present the first algorithm capable of efficiently computing certifia...
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10/06/2022
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM
We present a novel initialization technique for the range-aided simultan...
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07/12/2022
Accelerating Certifiable Estimation with Preconditioned Eigensolvers
Convex (specifically semidefinite) relaxation provides a powerful approa...
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03/25/2022
Spectral Measurement Sparsification for Pose-Graph SLAM
Simultaneous localization and mapping (SLAM) is a critical capability in...
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03/02/2022
Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation
We present the first distributed optimization algorithm with lazy commun...
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01/11/2022
Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM
In this work we present the first initialization methods equipped with e...
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10/02/2021
Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows
This paper presents a novel non-Gaussian inference algorithm, Normalizin...
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09/08/2021
Convex Iteration for Distance-Geometric Inverse Kinematics
Inverse kinematics (IK) is the problem of finding robot joint configurat...
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03/08/2021
Advances in Inference and Representation for Simultaneous Localization and Mapping
Simultaneous localization and mapping (SLAM) is the process of construct...
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08/06/2020
Shonan Rotation Averaging: Global Optimality by Surfing SO(p)^n
Shonan Rotation Averaging is a fast, simple, and elegant rotation averag...
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06/01/2020