41 citations · 213 across the 24 of their papers we have counts for
3 papers · 1 filter
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…
Riemannian Optimization for Distance-Geometric Inverse Kinematics
Filip Marić, Matthew Giamou, Adam W. Hall +3
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typical…
A Question of Time: Revisiting the Use of Recursive Filtering for Temporal Calibration of Multisensor Systems
Jonathan Kelly, Christopher Grebe, Matthew Giamou
We examine the problem of time delay estimation, or temporal calibration, in the context of multisensor data fusion. Differences in processing intervals and other factors typically…