41 citations · 134 across the 17 of their papers we have counts for
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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…