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SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group
David M. Rosen, Luca Carlone, Afonso S. Bandeira +1
Many important geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given a set of relative measur…
A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group
David M. Rosen, Luca Carlone, Afonso S. Bandeira +1
Many geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given noisy measurements of a subset of…
Attention and Anticipation in Fast Visual-Inertial Navigation
Luca Carlone, Sertac Karaman
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the…
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Cesar Cadena, Luca Carlone, Henry Carrillo +5
Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving wit…