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Optimal Pose and Shape Estimation for Category-level 3D Object Perception


May 12, 2021
Jingnan Shi, Heng Yang, Luca Carlone


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Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs


Jan 24, 2021
Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone

* 34 pages, 25 figures, 9 tables. arXiv admin note: text overlap with arXiv:2002.06289 

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ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants


Nov 07, 2020
Jingnan Shi, Heng Yang, Luca Carlone


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3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans


Feb 15, 2020
Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone

* 11 pages, 5 figures 

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TEASER: Fast and Certifiable Point Cloud Registration


Jan 21, 2020
Heng Yang, Jingnan Shi, Luca Carlone

* 20 pages main text, 22 pages appendix 

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