4 papers
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…
Uncertainty in space, time, and motion on the special Galilean group
Jonathan Kelly, Matthew Giamou
Classical mechanics unfolds within absolute time and Euclidean space, yet our knowledge of where events occur, when they occur, and how motion evolves is inherently uncertain. The…
Generative Graphical Inverse Kinematics
Oliver Limoyo, Filip MariÄ, Matthew Giamou +3
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable…