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Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models
Pierre-Yves Lajoie, Siyi Hu, Giovanni Beltrame +1
Perceptual aliasing is one of the main causes of failure for Simultaneous Localization and Mapping (SLAM) systems operating in the wild. Perceptual aliasing is the phenomenon where…
Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization
Siyi Hu, Luca Carlone
Markov Random Fields (MRFs) are a popular model for several pattern recognition and reconstruction problems in robotics and computer vision. Inference in MRFs is intractable in gen…
Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones
Amr Suleiman, Zhengdong Zhang, Luca Carlone +2
This paper presents Navion, an energy-efficient accelerator for visual-inertial odometry (VIO) that enables autonomous navigation of miniaturized robots (e.g., nano drones), and vi…
LQG Control and Sensing Co-Design
Vasileios Tzoumas, Luca Carlone, George J. Pappas +1
We investigate a Linear-Quadratic-Gaussian (LQG) control and sensing co-design problem, where one jointly designs sensing and control policies. We focus on the realistic case where…
Convex Relaxations for Pose Graph Optimization with Outliers
Luca Carlone, Giuseppe C. Calafiore
Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric…