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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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Self-Supervised Structure-from-Motion through Tightly-Coupled Depth and Egomotion Networks


Jun 07, 2021
Brandon Wagstaff, Valentin Peretroukhin, Jonathan Kelly

* Submitted to NeurIPS 2021 

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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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Self-Supervised Deep Pose Corrections for Robust Visual Odometry


Feb 27, 2020
Brandon Wagstaff, Valentin Peretroukhin, Jonathan Kelly

* Accepted to the 2020 International Conference on Robotics and Automation (ICRA) 

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Robust Data-Driven Zero-Velocity Detection for Foot-Mounted Inertial Navigation


Oct 25, 2019
Brandon Wagstaff, Valentin Peretroukhin, Jonathan Kelly

* In IEEE Sensors Journal, 10 pages 

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


Apr 02, 2019
Matthew Giamou, Filip Maric, Valentin Peretroukhin, Jonathan Kelly


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Probabilistic Regression of Rotations using Quaternion Averaging and a Deep Multi-Headed Network


Apr 01, 2019
Valentin Peretroukhin, Brandon Wagstaff, Matthew Giamou, Jonathan Kelly


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