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Theseus: A Library for Differentiable Nonlinear Optimization


Jul 19, 2022
Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky Chen, Joseph Ortiz, Daniel DeTone, Austin Wang, Stuart Anderson, Jing Dong, Brandon Amos, Mustafa Mukadam


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iSDF: Real-Time Neural Signed Distance Fields for Robot Perception


Apr 05, 2022
Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotny, Michael Zollhoefer, Mustafa Mukadam

* Project page: https://joeaortiz.github.io/iSDF/ 

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A Robot Web for Distributed Many-Device Localisation


Feb 07, 2022
Riku Murai, Joseph Ortiz, Sajad Saeedi, Paul H. J. Kelly, Andrew J. Davison

* 18 pages, 7 figures 

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Incremental Abstraction in Distributed Probabilistic SLAM Graphs


Sep 13, 2021
Joseph Ortiz, Talfan Evans, Edgar Sucar, Andrew J. Davison

* 8 pages. Project page: https://joeaortiz.github.io/incremental_abstraction/ 

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A visual introduction to Gaussian Belief Propagation


Jul 05, 2021
Joseph Ortiz, Talfan Evans, Andrew J. Davison

* See online version of this article: https://gaussianbp.github.io/ 

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iMAP: Implicit Mapping and Positioning in Real-Time


Mar 23, 2021
Edgar Sucar, Shikun Liu, Joseph Ortiz, Andrew J. Davison


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Bundle Adjustment on a Graph Processor


Mar 30, 2020
Joseph Ortiz, Mark Pupilli, Stefan Leutenegger, Andrew J. Davison

* Published in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2020). Video: https://www.youtube.com/watch?v=TqeN8aQNgd0 

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FutureMapping 2: Gaussian Belief Propagation for Spatial AI


Oct 30, 2019
Andrew J. Davison, Joseph Ortiz


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