1 citations · 1 across the 5 of their papers we have counts for
7 papers
PnP*: A certifiable solver for Perspective-n-Point
Bang-Shien Chen, Caitrin E. Eaton, David M. Rosen
Estimating a camera pose from 3D-2D correspondences - Perspective-n-Point - is one of the most fundamental problems in computer vision. Existing methods either solve a minimal prob…
A QCQP-Representable IMU Pre-Integration Factor for Certifiable State Estimation
Utkarsh Rai, Zhexin Xu, Bang-Shien Chen +1
We propose a QCQP-representable IMU pre-integration factor that enables certifiable estimation with pre-integrated inertial measurements. To the best of our knowledge, this is the…
Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations
Ananya Trivedi, Sarvesh Prajapati, Mohamed Khalid M Jaffar +3
Motion planning problems such as collision-free navigation and contact-rich manipulation can be naturally formulated as optimization problems that couple discrete decisions with co…
Certifiable Factor Graph Optimization
Zhexin Xu, Nikolas R. Sanderson, Hanna Jiamei Zhang +1
We show that the factor graph and certifiable estimation paradigms, which have thus far been treated as essentially independent in the literature, can be naturally synthesized into…
Implementing Robust M-Estimators with Certifiable Factor Graph Optimization
Zhexin Xu, Hanna Jiamei Zhang, Helena Calatrava +2
Parameter estimation in robotics and computer vision faces formidable challenges from both outlier contamination and nonconvex optimization landscapes. While M-estimation addresses…
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…
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…