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Accelerating Certifiable Estimation with Preconditioned Eigensolvers


Jul 12, 2022
David M. Rosen

* 8 pages, 6 figures 

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Spectral Measurement Sparsification for Pose-Graph SLAM


Mar 25, 2022
Kevin J. Doherty, David M. Rosen, John J. Leonard

* Submitted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022 

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Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation


Mar 02, 2022
Yulun Tian, Amrit Singh Bedi, Alec Koppel, Miguel Calvo-Fullana, David M. Rosen, Jonathan P. How

* technical report (17 pages, 3 figures) 

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Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM


Jan 11, 2022
Kevin J. Doherty, David M. Rosen, John J. Leonard


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Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows


Oct 02, 2021
Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard

* Extension of work published at arXiv:2105.05045 

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Convex Iteration for Distance-Geometric Inverse Kinematics


Sep 08, 2021
Matthew Giamou, Filip Marić, David M. Rosen, Valentin Peretroukhin, Nicholas Roy, Ivan Petrović, Jonathan Kelly

* Submitted to IEEE Robotics and Automation Letters 

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Advances in Inference and Representation for Simultaneous Localization and Mapping


Mar 08, 2021
David M. Rosen, Kevin J. Doherty, Antonio Teran Espinoza, John J. Leonard

* 30 pages, 4 figures. To appear in Annual Review of Control, Robotics, and Autonomous Systems 2021 

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Shonan Rotation Averaging: Global Optimality by Surfing $SO(p)^n$


Aug 06, 2020
Frank Dellaert, David M. Rosen, Jing Wu, Robert Mahony, Luca Carlone

* 30 pages (paper + supplementary material). To appear at the European Conference on Computer Vision (ECCV) 2020 

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A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty


Jun 17, 2020
Valentin Peretroukhin, Matthew Giamou, David M. Rosen, W. Nicholas Greene, Nicholas Roy, Jonathan Kelly

* Accepted to Robotics: Science and Systems (RSS'20), Boston, Massachusetts, USA, Jul. 12-16, 2020 

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