20 citations · 60 across the 13 of their papers we have counts for
3 papers · 1 filter
Safe and Smooth: Certified Continuous-Time Range-Only Localization
Frederike Dümbgen, Connor Holmes, Timothy D. Barfoot
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed…
A Fine Line: Total Least-Squares Line Fitting as QCQP Optimization
Timothy D Barfoot, Connor Holmes, Frederike Dumbgen
This note uses the Total Least-Squares (TLS) line-fitting problem as a canvas to explore some modern optimization tools. The contribution is meant to be tutorial in nature. The TLS…
An Efficient Global Optimality Certificate for Landmark-Based SLAM
Connor Holmes, Timothy D. Barfoot
Modern state estimation is often formulated as an optimization problem and solved using efficient local search methods. These methods at best guarantee convergence to local minima,…