38 citations · 110 across the 22 of their papers we have counts for
5 papers · 1 filter
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…