2 citations · 2 across the 5 of their papers we have counts for
7 papers
Multi-Irreducible Spectral Synchronization for Robust Rotation Averaging
Owen Howell, Haoen Huang, David Rosen
Rotation averaging (RA) is a fundamental problem in robotics and computer vision. In RA, the goal is to estimate a set of unknown orientations , gi…
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM
Alan Papalia, Joseph Morales, Kevin J. Doherty +2
We present a novel initialization technique for the range-aided simultaneous localization and mapping (RA-SLAM) problem. In RA-SLAM we consider measurements of point-to-point dista…
Spectral Measurement Sparsification for Pose-Graph SLAM
Kevin J. Doherty, David M. Rosen, John J. Leonard
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under mem…
Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM
Kevin J. Doherty, David M. Rosen, John J. Leonard
In this work we present the first initialization methods equipped with explicit performance guarantees adapted to the pose-graph simultaneous localization and mapping (SLAM) and ro…
Advances in Inference and Representation for Simultaneous Localization and Mapping
David M. Rosen, Kevin J. Doherty, Antonio Teran Espinoza +1
Simultaneous localization and mapping (SLAM) is the process of constructing a global model of an environment from local observations of it; this is a foundational capability for mo…
Shonan Rotation Averaging: Global Optimality by Surfing
Frank Dellaert, David M. Rosen, Jing Wu +2
Shonan Rotation Averaging is a fast, simple, and elegant rotation averaging algorithm that is guaranteed to recover globally optimal solutions under mild assumptions on the measure…