47 citations · 72 across the 9 of their papers we have counts for
9 papers
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment
Taosha Fan, Joseph Ortiz, Ming Hsiao +4
Scaling to arbitrarily large bundle adjustment problems requires data and compute to be distributed across multiple devices. Centralized methods in prior works are only able to sol…
Theseus: A Library for Differentiable Nonlinear Optimization
Luis Pineda, Taosha Fan, Maurizio Monge +10
We present Theseus, an efficient application-agnostic open source library for differentiable nonlinear least squares (DNLS) optimization built on PyTorch, providing a common framew…
Majorization Minimization Methods for Distributed Pose Graph Optimization
Taosha Fan, Todd Murphey
We consider the problem of distributed pose graph optimization (PGO) that has important applications in multi-robot simultaneous localization and mapping (SLAM). We propose the maj…
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation
Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang +3
We propose a novel sparse constrained formulation and from it derive a real-time optimization method for 3D human pose and shape estimation. Our optimization method, SCOPE (Sparse…
Generalized Proximal Methods for Pose Graph Optimization
Taosha Fan, Todd Murphey
In this paper, we generalize proximal methods that were originally designed for convex optimization on normed vector space to non-convex pose graph optimization (PGO) on special Eu…
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation
Taosha Fan, Hanlin Wang, Michael Rubenstein +1
In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed…
Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization
Taosha Fan, Jarvis Schultz, Todd Murphey
This paper addresses the problem of efficiently computing higher-order variational integrators in simulation and trajectory optimization of mechanical systems as those often found…
Decentralized and Recursive Identification for Cooperative Manipulation of Unknown Rigid Body with Local Measurements
Taosha Fan, Huan Weng, Todd Murphey
This paper proposes a fully decentralized and recursive approach to online identification of unknown kinematic and dynamic parameters for cooperative manipulation of a rigid body b…
Online Feedback Control for Input-Saturated Robotic Systems on Lie Groups
Taosha Fan, Todd Murphey
In this paper, we propose an approach to designing online feedback controllers for input-saturated robotic systems evolving on Lie groups by extending the recently developed Sequen…