11 citations · 19 across the 4 of their papers we have counts for
11 papers
An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization
Heng Yang, Ling Liang, Luca Carlone +1
We consider solving high-order semidefinite programming (SDP) relaxations of nonconvex polynomial optimization problems (POPs) that often admit degenerate rank-one optimal solution…
Self-supervised Geometric Perception
Heng Yang, Wei Dong, Luca Carlone +1
We present self-supervised geometric perception (SGP), the first general framework to learn a feature descriptor for correspondence matching without any ground-truth geometric mode…
Dynamical Pose Estimation
Heng Yang, Chris Doran, Jean-Jacques Slotine
We study the problem of aligning two sets of 3D geometric primitives given known correspondences. Our first contribution is to show that this primitive alignment framework unifies…
ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants
Jingnan Shi, Heng Yang, Luca Carlone
Many estimation problems in robotics, computer vision, and learning require estimating unknown quantities in the face of outliers. Outliers are typically the result of incorrect da…
One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers
Heng Yang, Luca Carlone
We propose the first general and practical framework to design certifiable algorithms for robust geometric perception in the presence of a large amount of outliers. We investigate…
A Dynamical Perspective on Point Cloud Registration
Heng Yang
We provide a dynamical perspective on the classical problem of 3D point cloud registration with correspondences. A point cloud is considered as a rigid body consisting of particles…