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cs.RO2026
Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups
Jaeho Shin, Maani Ghaffari, Yulun Tian
Modern robotic perception increasingly involves large-scale geometric optimization problems distributed across multiple robots or sessions. However, existing distributed solvers of…
cs.RO2026
Distributed Pose Graph Optimization via Continuous Riemannian Dynamics
Jaeho Shin, Maani Ghaffari, Yulun Tian
We present a framework for distributed Pose Graph Optimization (PGO) by formulating the problem as a second-order continuous-time dynamical system evolving on Lie groups. By modeli…
cs.RO2026
RoEL: Robust Event-based 3D Line Reconstruction
Gwangtak Bae, Jaeho Shin, Seunggu Kang +3
Event cameras in motion tend to detect object boundaries or texture edges, which produce lines of brightness changes, especially in man-made environments. While lines can constitut…