2 papers
cs.RO2026
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…
cs.RO2025
Sparse Variable Projection in Robotic Perception: Exploiting Separable Structure for Efficient Nonlinear Optimization
Alan Papalia, Nikolas Sanderson, Haoyu Han +3
Robotic perception often requires solving large nonlinear least-squares (NLS) problems. While sparsity has been well-exploited to scale solvers, a complementary and underexploited…