3.5k citations · 6.3k across the 74 of their papers we have counts for
15 papers · 1 filter
LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time
M. Palieri, B. Morrell, A Thakur +7
A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-preci…
Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping
Yun Chang, Yulun Tian, Jonathan P. How +1
We present the first fully distributed multi-robot system for dense metric-semantic Simultaneous Localization and Mapping (SLAM). Our system, dubbed Kimera-Multi, is implemented by…
Monitoring and Diagnosability of Perception Systems
Pasquale Antonante, David I. Spivak, Luca Carlone
Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving vehicles. In these applications, failure of perception sy…
ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants
Jingnan Shi, Heng Yang, Luca Carlone
Many estimation problems in robotics, computer vision, and learning require estimating unknown quantities in the face of outliers. Outliers are typically the result of incorrect da…
Primal-Dual Mesh Convolutional Neural Networks
Francesco Milano, Antonio Loquercio, Antoni Rosinol +2
Recent works in geometric deep learning have introduced neural networks that allow performing inference tasks on three-dimensional geometric data by defining convolution, and somet…
Shonan Rotation Averaging: Global Optimality by Surfing
Frank Dellaert, David M. Rosen, Jing Wu +2
Shonan Rotation Averaging is a fast, simple, and elegant rotation averaging algorithm that is guaranteed to recover globally optimal solutions under mild assumptions on the measure…
Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications
Pasquale Antonante, Vasileios Tzoumas, Heng Yang +1
Nonlinear estimation in robotics and vision is typically plagued with outliers due to wrong data association, or to incorrect detections from signal processing and machine learning…
One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers
Heng Yang, Luca Carlone
We propose the first general and practical framework to design certifiable algorithms for robust geometric perception in the presence of a large amount of outliers. We investigate…
Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation
Arjun Gupta, Luca Carlone
Several autonomy pipelines now have core components that rely on deep learning approaches. While these approaches work well in nominal conditions, they tend to have unexpected and…
Monitoring and Diagnosability of Perception Systems
Pasquale Antonante, David I. Spivak, Luca Carlone
Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception system…
Control and Trajectory Optimization for Soft Aerial Manipulation
Joshua Fishman, Luca Carlone
Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is d…
From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency
Luca Ballotta, Luca Schenato, Luca Carlone
This paper investigates the use of a networked system (, swarm of robots, smart grid, sensor network) to monitor a time-varying phenomenon of interest in the presence of comm…
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
Kamak Ebadi, Yun Chang, Matteo Palieri +9
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions…
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
Antoni Rosinol, Arjun Gupta, Marcus Abate +2
We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. o…
TEASER: Fast and Certifiable Point Cloud Registration
Heng Yang, Jingnan Shi, Luca Carlone
We propose the first fast and certifiable algorithm for the registration of two sets of 3D points in the presence of large amounts of outlier correspondences. We first reformulate…