38 citations · 110 across the 22 of their papers we have counts for
24 papers
Scalable and Differentiable Point-Cloud Registration Using Maximum Mean Discrepancy
Rixon Crane, Fahira Afzal Maken, Nicholas Lawrance +4
We present MMD-Reg, a novel correspondence-free approach to point-cloud registration that is differentiable and has linear computational complexity in the number of points. We mode…
TALO: Pushing 3D Vision Foundation Models Towards Globally Consistent Online Reconstruction
Fengyi Zhang, Tianjun Zhang, Kasra Khosoussi +3
3D vision foundation models have shown strong generalization in reconstructing key 3D attributes from uncalibrated images through a single feed-forward pass. However, when deployed…
Joint State and Noise Covariance Estimation
Kasra Khosoussi, Iman Shames
This paper tackles the problem of jointly estimating the noise covariance matrix alongside states (parameters such as poses and points) from measurements corrupted by Gaussian nois…
Under-Canopy Navigation using Aerial Lidar Maps
Lucas Carvalho de Lima, Nicholas Lawrance, Kasra Khosoussi +2
Autonomous navigation in unstructured natural environments poses a significant challenge. In goal navigation tasks without prior information, the limited look-ahead of onboard sens…
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge
Navinda Kottege, Jason Williams, Brendan Tidd +27
The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots to explore difficult unknown underground environments. Categorised in…
Data-Association-Free Landmark-based SLAM
Yihao Zhang, Odin A. Severinsen, John J. Leonard +2
We study landmark-based SLAM with unknown data association: our robot navigates in a completely unknown environment and has to simultaneously reason over its own trajectory, the po…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi +3
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information…
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT
Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas +5
This paper reports on the development, execution, and open-sourcing of a new robotics course at MIT. The course is a modern take on "Visual Navigation for Autonomous Vehicles" (VNA…
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM
Milad Ramezani, Kasra Khosoussi, Gavin Catt +5
We present Wildcat, a novel online 3D lidar-inertial SLAM system with exceptional versatility and robustness. At its core, Wildcat combines a robust real-time lidar-inertial odomet…
Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows
Qiangqiang Huang, Can Pu, Kasra Khosoussi +4
This paper presents normalizing flows for incremental smoothing and mapping (NF-iSAM), a novel algorithm for inferring the full posterior distribution in SLAM problems with nonline…
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows
Qiangqiang Huang, Can Pu, Dehann Fourie +3
This paper presents a novel non-Gaussian inference algorithm, Normalizing Flow iSAM (NF-iSAM), for solving SLAM problems with non-Gaussian factors and/or non-linear measurement mod…
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations
Stewart Jamieson, Kaveh Fathian, Kasra Khosoussi +2
We present a solution to multi-robot distributed semantic mapping of novel and unfamiliar environments. Most state-of-the-art semantic mapping systems are based on supervised learn…
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi +3
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between inf…
Distributed Certifiably Correct Pose-Graph Optimization
Yulun Tian, Kasra Khosoussi, David M. Rosen +1
This paper presents the first certifiably correct algorithm for distributed pose-graph optimization (PGO), the backbone of modern collaborative simultaneous localization and mappin…
A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees
Yulun Tian, Kasra Khosoussi, Jonathan P. How
This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM…
Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints
Yulun Tian, Kasra Khosoussi, Jonathan P. How
The so-called Burer-Monteiro method is a well-studied technique for solving large-scale semidefinite programs (SDPs) via low-rank factorization. The main idea is to solve rank-rest…
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association
Kaveh Fathian, Kasra Khosoussi, Yulun Tian +2
Many robotics applications require alignment and fusion of observations obtained at multiple views to form a global model of the environment. Multi-way data association methods pro…
Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees
Yulun Tian, Kasra Khosoussi, Jonathan P. How
Inter-robot loop closure detection, e.g., for collaborative simultaneous localization and mapping (CSLAM), is a fundamental capability for many multirobot applications in GPS-denie…
Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection
Yulun Tian, Kasra Khosoussi, Matthew Giamou +2
Inter-robot loop closure detection is a core problem in collaborative SLAM (CSLAM). Establishing inter-robot loop closures is a resource-demanding process, during which robots must…
Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed Loop Closure Detection
Matthew Giamou, Kasra Khosoussi, Jonathan P. How
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots.…
On the Expected Value of the Determinant of Random Sum of Rank-One Matrices
Kasra Khosoussi
We present a simple, yet useful result about the expected value of the determinant of random sum of rank-one matrices. Computing such expectations in general may involve a sum over…
Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang +1
In this paper, we aim to design sparse D-optimal (determinantoptimal) pose-graph SLAM problems through the synthesis of sparse graphs with the maximum weighted number of spanning t…
Maximizing the Weighted Number of Spanning Trees: Near--Optimal Graphs
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang +1
Designing well-connected graphs is a fundamental problem that frequently arises in various contexts across science and engineering. The weighted number of spanning trees, as a conn…