48 citations · 97 across the 19 of their papers we have counts for
21 papers
HIGS: Hierarchical Implicit Grids for Joint Geometric and Semantic Scene Understanding
Hanwen Cao, Wenqiang Wu, Kuang-Ting Tu +5
Neural implicit representations have had a significant impact on scene reconstruction by enabling robots to build continuous, differentiable, and high-fidelity 3D maps. Most existi…
Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups
Jaeho Shin, Maani Ghaffari, Yulun Tian
Modern robotic perception increasingly involves large-scale geometric optimization problems distributed across multiple robots or sessions. However, existing distributed solvers of…
SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation
Sunghwan Kim, Byeonghyun Pak, Kehan Long +2
Long-horizon robot mobile manipulation requires continual reasoning about localization, environment changes, and task progress, all of which are challenging to infer from image obs…
Distributed Pose Graph Optimization via Continuous Riemannian Dynamics
Jaeho Shin, Maani Ghaffari, Yulun Tian
We present a framework for distributed Pose Graph Optimization (PGO) by formulating the problem as a second-order continuous-time dynamical system evolving on Lie groups. By modeli…
Overlapping Domain Decomposition for Distributed Pose Graph Optimization
Aneesa Sonawalla, Yulun Tian, Jonathan P. How
We present ROBO (Riemannian Overlapping Block Optimization), a distributed and parallel approach to multi-robot pose graph optimization (PGO) based on the idea of overlapping domai…
Distribution Estimation for Global Data Association via Approximate Bayesian Inference
Yixuan Jia, Mason B. Peterson, Qingyuan Li +2
Global data association is an essential prerequisite for robot operation in environments seen at different times or by different robots. Repetitive or symmetric data creates signif…
ROMAN: Open-Set Object Map Alignment for Robust View-Invariant Global Localization
Mason B. Peterson, Yixuan Jia, Yulun Tian +2
Global localization is a fundamental capability required for long-term and drift-free robot navigation. However, current methods fail to relocalize when faced with significantly di…
An Overview of the Burer-Monteiro Method for Certifiable Robot Perception
Alan Papalia, Yulun Tian, David M. Rosen +2
This paper presents an overview of the Burer-Monteiro method (BM), a technique that has been applied to solve robot perception problems to certifiable optimality in real-time. BM i…
Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned
Yulun Tian, Yun Chang, Long Quang +4
This paper revisits Kimera-Multi, a distributed multi-robot Simultaneous Localization and Mapping (SLAM) system, towards the goal of deployment in the real world. In particular, th…
Spectral Sparsification for Communication-Efficient Collaborative Rotation and Translation Estimation
Yulun Tian, Jonathan P. How
We propose fast and communication-efficient optimization algorithms for multi-robot rotation averaging and translation estimation problems that arise from collaborative simultaneou…
Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation
Yulun Tian, Amrit Singh Bedi, Alec Koppel +3
We present the first distributed optimization algorithm with lazy communication for collaborative geometric estimation, the backbone of modern collaborative simultaneous localizati…
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems
Yulun Tian, Yun Chang, Fernando Herrera Arias +3
This paper presents Kimera-Multi, the first multi-robot system that (i) is robust and capable of identifying and rejecting incorrect inter and intra-robot loop closures resulting f…
Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping
Yun Chang, Yulun Tian, Jonathan P. How +1
We present the first fully distributed multi-robot system for dense metric-semantic Simultaneous Localization and Mapping (SLAM). Our system, dubbed Kimera-Multi, is implemented by…
Asynchronous and Parallel Distributed Pose Graph Optimization
Yulun Tian, Alec Koppel, Amrit Singh Bedi +1
We present Asynchronous Stochastic Parallel Pose Graph Optimization (ASAPP), the first asynchronous algorithm for distributed pose graph optimization (PGO) in multi-robot simultane…
Distributed Certifiably Correct Pose-Graph Optimization
Yulun Tian, Kasra Khosoussi, David M. Rosen +1
This paper presents the first certifiably correct algorithm for distributed pose-graph optimization (PGO), the backbone of modern collaborative simultaneous localization and mappin…
Search and Rescue under the Forest Canopy using Multiple UAVs
Yulun Tian, Katherine Liu, Kyel Ok +4
We present a multi-robot system for GPS-denied search and rescue under the forest canopy. Forests are particularly challenging environments for collaborative exploration and mappin…
A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees
Yulun Tian, Kasra Khosoussi, Jonathan P. How
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM…
Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints
Yulun Tian, Kasra Khosoussi, Jonathan P. How
The so-called Burer-Monteiro method is a well-studied technique for solving large-scale semidefinite programs (SDPs) via low-rank factorization. The main idea is to solve rank-rest…
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association
Kaveh Fathian, Kasra Khosoussi, Yulun Tian +2
Many robotics applications require alignment and fusion of observations obtained at multiple views to form a global model of the environment. Multi-way data association methods pro…
Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees
Yulun Tian, Kasra Khosoussi, Jonathan P. How
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denie…
Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection
Yulun Tian, Kasra Khosoussi, Matthew Giamou +2
Inter-robot loop closure detection is a core problem in collaborative SLAM (CSLAM). Establishing inter-robot loop closures is a resource-demanding process, during which robots must…