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Fast Object Inertial Parameter Identification for Collaborative Robots



Philippe Nadeau , Matthew Giamou , Jonathan Kelly

* Accepted to the International Conference on Robotics and Automation (ICRA'22), Philadelphia, USA, May 23-27, 2022 

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Convex Iteration for Distance-Geometric Inverse Kinematics



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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Riemannian Optimization for Distance Geometric Inverse Kinematics



Filip Marić , Matthew Giamou , Adam W. Hall , Soroush Khoubyarian , Ivan Petrović , Jonathan Kelly

* Submitted to IEEE Transactions on Robotics 

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A Question of Time: Revisiting the Use of Recursive Filtering for Temporal Calibration of Multisensor Systems



Jonathan Kelly , Christopher Grebe , Matthew Giamou

* Submitted to the 2021 IEEE International Conference on Multisensor Fusion and Integration (MFI 2021) 

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Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion



Filip Marić , Matthew Giamou , Ivan Petrović , Jonathan Kelly

* 2 pages, 1 figure. Presented at the IROS 2020 workshop on bringing geometric methods to robot learning, optimization and control 

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



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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Certifiably Optimal Monocular Hand-Eye Calibration



Emmett Wise , Matthew Giamou , Soroush Khoubyarian , Abhinav Grover , Jonathan Kelly

* 8 pages, 4 figures, Submitted to 2020 International Conference on Multisensor Fusion and Integration 

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Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization



Filip Maric , Matthew Giamou , Soroush Khoubyarian , Ivan Petrovic , Jonathan Kelly

* 11 pages, 4 figures 

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Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging



Matthew Giamou , Filip Maric , Valentin Peretroukhin , Jonathan Kelly


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