332 citations · 428 across the 15 of their papers we have counts for
15 papers
Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation
Shucheng Kang, Yuxiao Chen, Heng Yang +1
We study the problem of verification and synthesis of robust control barrier functions (CBF) for control-affine polynomial systems with bounded additive uncertainty and convex poly…
Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints
Jingnan Shi, Heng Yang, Luca Carlone
We consider a category-level perception problem, where one is given 2D or 3D sensor data picturing an object of a given category (e.g., a car), and has to reconstruct the 3D pose a…
Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization
Heng Yang, Luca Carlone
We propose the first general and scalable framework to design certifiable algorithms for robust geometric perception in the presence of outliers. Our first contribution is to show…
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…
Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications
Pasquale Antonante, Vasileios Tzoumas, Heng Yang +1
Nonlinear estimation in robotics and vision is typically plagued with outliers due to wrong data association, or to incorrect detections from signal processing and machine learning…
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…
TEASER: Fast and Certifiable Point Cloud Registration
Heng Yang, Jingnan Shi, Luca Carlone
We propose the first fast and certifiable algorithm for the registration of two sets of 3D points in the presence of large amounts of outlier correspondences. We first reformulate…
In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks
Heng Yang, Luca Carlone
We study the problem of 3D shape reconstruction from 2D landmarks extracted in a single image. We adopt the 3D deformable shape model and formulate the reconstruction as a joint op…
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection
Heng Yang, Pasquale Antonante, Vasileios Tzoumas +1
Semidefinite Programming (SDP) and Sums-of-Squares (SOS) relaxations have led to certifiably optimal non-minimal solvers for several robotics and computer vision problems. However,…
A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers
Heng Yang, Luca Carlone
The Wahba problem, also known as rotation search, seeks to find the best rotation to align two sets of vector observations given putative correspondences, and is a fundamental rout…
A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates
Heng Yang, Luca Carlone
We propose a robust approach for the registration of two sets of 3D points in the presence of a large amount of outliers. Our first contribution is to reformulate the registration…