20 citations · 60 across the 13 of their papers we have counts for
5 papers · 1 filter
STAR-loc: Dataset for STereo And Range-based localization
Frederike Dümbgen, Mohammed A. Shalaby, Connor Holmes +4
This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/sta…
Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map
Timothy D Barfoot, Connor Holmes, Frederike Dümbgen
We present novel, convex relaxations for rotation and pose estimation problems that can a posteriori guarantee global optimality for practical measurement noise levels. Some such r…
On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics
Connor Holmes, Frederike Dümbgen, Timothy D Barfoot
In recent years, there has been remarkable progress in the development of so-called certifiable perception methods, which leverage semidefinite, convex relaxations to find global o…
Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations
Frederike Dümbgen, Connor Holmes, Ben Agro +1
In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally optimal solutions. I…
Towards Open World NeRF-Based SLAM
Daniil Lisus, Connor Holmes, Steven Waslander
Neural Radiance Fields (NeRFs) offer versatility and robustness in map representations for Simultaneous Localization and Mapping (SLAM) tasks. This paper extends NICE-SLAM, a recen…