research
∙
09/16/2023
Optimal Initialization Strategies for Range-Only Trajectory Estimation
Range-only (RO) pose estimation involves determining a robot's pose over...
share
research
∙
09/11/2023
STAR-loc: Dataset for STereo And Range-based localization
This document contains a detailed description of the STAR-loc dataset. F...
research
∙
09/08/2023
Data-Driven Batch Localization and SLAM Using Koopman Linearization
We present a framework for model-free batch localization and SLAM. We us...
research
∙
08/23/2023
Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map
We present novel, tight, convex relaxations for rotation and pose estima...
research
∙
08/14/2023
On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics
In recent years, there has been remarkable progress in the development o...
research
∙
08/10/2023
Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations
In recent years, semidefinite relaxations of common optimization problem...
research
∙
06/22/2023
What to Learn: Features, Image Transformations, or Both?
Long-term visual localization is an essential problem in robotics and co...
research
∙
01/19/2023
Blind as a bat: audible echolocation on small robots
For safe and efficient operation, mobile robots need to perceive their e...
research
∙
09/09/2022
Safe and Smooth: Certified Continuous-Time Range-Only Localization
A common approach to localize a mobile robot is by measuring distances t...
research
∙
06/10/2022
A Fine Line: Total Least-Squares Line Fitting as QCQP Optimization
This note uses the Total Least-Squares (TLS) line-fitting problem as a c...
research
∙
05/09/2020
Realizability of Planar Point Embeddings from Angle Measurements
Localization of a set of nodes is an important and a thoroughly research...
research
∙
03/07/2020
AL2: Progressive Activation Loss for Learning General Representations in Classification Neural Networks
The large capacity of neural networks enables them to learn complex func...
research
∙
09/11/2018