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In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks
Heng Yang, Luca Carlone
We study the problem of 3D shape reconstruction from 2D landmarks extracted in a single image. We adopt the 3D deformable shape model and formulate the reconstruction as a joint op…
Computation-Communication Trade-offs and Sensor Selection in Real-time Estimation for Processing Networks
Luca Ballotta, Luca Schenato, Luca Carlone
Recent advances in electronics are enabling substantial processing to be performed at each node (robots, sensors) of a networked system. Local processing enables data compression a…
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
Antoni Rosinol, Marcus Abate, Yun Chang +1
We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM). The library goes beyond existing visual and visual…
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang +2
To achieve collaborative tasks, robots in a team need to have a shared understanding of the environment and their location within it. Distributed Simultaneous Localization and Mapp…
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection
Heng Yang, Pasquale Antonante, Vasileios Tzoumas +1
Semidefinite Programming (SDP) and Sums-of-Squares (SOS) relaxations have led to certifiably optimal non-minimal solvers for several robotics and computer vision problems. However,…
A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers
Heng Yang, Luca Carlone
The Wahba problem, also known as rotation search, seeks to find the best rotation to align two sets of vector observations given putative correspondences, and is a fundamental rout…
Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees
Vasileios Tzoumas, Pasquale Antonante, Luca Carlone
Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relat…
A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates
Heng Yang, Luca Carlone
We propose a robust approach for the registration of two sets of 3D points in the presence of a large amount of outliers. Our first contribution is to reformulate the registration…
Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities
Antoni Rosinol, Torsten Sattler, Marc Pollefeys +1
Visual-Inertial Odometry (VIO) algorithms typically rely on a point cloud representation of the scene that does not model the topology of the environment. A 3D mesh instead offers…
Robot Co-design: Beyond the Monotone Case
Luca Carlone, Carlo Pinciroli
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a larg…