41 citations · 134 across the 17 of their papers we have counts for
18 papers
FAST-Sync: Fast Group Synchronization for any Matrix Lie Group
Shane Holmes, Yiran Luo, Firat Taxpulat +2
Group synchronization (GS) is the problem of estimating a set of unknown elements in a group , given noisy measurements of a subs…
A Trust-Region Method for Graphical Stein Variational Inference
Liam Pavlovic, David M. Rosen
Stein variational inference (SVI) is a sample-based approximate Bayesian inference technique that generates a sample set by jointly optimizing the samples' locations to minimize an…
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…
Certifiably Correct Range-Aided SLAM
Alan Papalia, Andrew Fishberg, Brendan W. O'Neill +3
We present the first algorithm to efficiently compute certifiably optimal solutions to range-aided simultaneous localization and mapping (RA-SLAM) problems. Robotic navigation syst…
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…
Accelerating Certifiable Estimation with Preconditioned Eigensolvers
David M. Rosen
Convex (specifically semidefinite) relaxation provides a powerful approach to constructing robust machine perception systems, enabling the recovery of certifiably globally optimal…
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…
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…
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…
Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows
Qiangqiang Huang, Can Pu, Kasra Khosoussi +4
This paper presents normalizing flows for incremental smoothing and mapping (NF-iSAM), a novel algorithm for inferring the full posterior distribution in SLAM problems with nonline…
Convex Iteration for Distance-Geometric Inverse Kinematics
Matthew Giamou, Filip Marić, David M. Rosen +4
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundan…
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…
A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty
Valentin Peretroukhin, Matthew Giamou, David M. Rosen +3
Accurate rotation estimation is at the heart of robot perception tasks such as visual odometry and object pose estimation. Deep neural networks have provided a new way to perform t…
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…
SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group
David M. Rosen, Luca Carlone, Afonso S. Bandeira +1
Many important geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given a set of relative measur…
A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group
David M. Rosen, Luca Carlone, Afonso S. Bandeira +1
Many geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given noisy measurements of a subset of…
Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions
Luca Carlone, David Rosen, Giuseppe Calafiore +2
State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these tec…