4 citations · 6 across the 9 of their papers we have counts for
10 papers · 1 filter
Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality
Baoshan Song, Matthew Giamou, Penggao Yan +2
Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satel…
A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration
Emmett Wise, Pushyami Kaveti, Qilong Chen +5
Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few…
Towards Optimal Beacon Placement for Range-Aided Localization
Ethan Sequeira, Hussein Saad, Stephen Kelly +1
Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power mobile phone-based navigation, and autonomous mobile robots can use range measurements from…
OASIS: Optimal Arrangements for Sensing in SLAM
Pushyami Kaveti, Matthew Giamou, Hanumant Singh +1
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detect…
Euclidean Equivariant Models for Generative Graphical Inverse Kinematics
Oliver Limoyo, Filip Marić, Matthew Giamou +3
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for robotic manipulation. Existing numerical solvers typically produce a singl…
CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots
Hanna Jiamei Zhang, Matthew Giamou, Filip Marić +2
The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make them well suited for constrained environments. Solving the inverse kinematics (IK), that is…