
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software arc...
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Dynamic Grasping with a "Soft" Drone: From Theory to Practice
Rigid grippers used in existing aerial manipulators require precise posi...
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Selfsupervised Geometric Perception
We present selfsupervised geometric perception (SGP), the first general...
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LION: LidarInertial ObservabilityAware Navigator for VisionDenied Environments
State estimation for robots navigating in GPSdenied and perceptuallyde...
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Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs
Humans are able to form a complex mental model of the environment they m...
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KimeraMulti: a System for Distributed MultiRobot MetricSemantic Simultaneous Localization and Mapping
We present the first fully distributed multirobot system for dense metr...
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ROBIN: a GraphTheoretic Approach to Reject Outliers in Robust Estimation using Invariants
Many estimation problems in robotics, computer vision, and learning requ...
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PrimalDual Mesh Convolutional Neural Networks
Recent works in geometric deep learning have introduced neural networks ...
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Shonan Rotation Averaging: Global Optimality by Surfing SO(p)^n
Shonan Rotation Averaging is a fast, simple, and elegant rotation averag...
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OutlierRobust Estimation: Hardness, MinimallyTuned Algorithms, and Applications
Nonlinear estimation in robotics and vision is typically plagued with ou...
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One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers
We propose a general and practical framework to design certifiable algor...
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Monitoring and Diagnosability of Perception Systems
Perception is a critical component of highintegrity applications of rob...
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Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation
Several autonomy pipelines now have core components that rely on deep le...
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Control and Trajectory Optimization for Soft Aerial Manipulation
Manipulation and grasping with unmanned aerial vehicles (UAVs) currently...
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From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency
This paper investigates the use of a networked system (e.g., swarm of ro...
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LAMP: LargeScale Autonomous Mapping and Positioning for Exploration of PerceptuallyDegraded Subterranean Environments
Simultaneous Localization and Mapping (SLAM) in largescale, unknown, an...
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3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
We present a unified representation for actionable spatial perception: 3...
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TEASER: Fast and Certifiable Point Cloud Registration
We propose the first fast and certifiable algorithm for the registration...
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In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks
We study the problem of 3D shape reconstruction from 2D landmarks extrac...
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ComputationCommunication Tradeoffs and Sensor Selection in Realtime Estimation for Processing Networks
This paper investigates the use of a networked system (e.g., swarm of ro...
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Optimal ComputationCommunication Tradeoffs in Processing Networks
This paper investigates the use of a networked system (e.g., swarm of ro...
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Kimera: an OpenSource Library for RealTime MetricSemantic Localization and Mapping
We provide an opensource C++ library for realtime metricsemantic visu...
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DOORSLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
To achieve collaborative tasks, robots in a team need to have a shared u...
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Graduated NonConvexity for Robust Spatial Perception: From NonMinimal Solvers to Global Outlier Rejection
Semidefinite Programming (SDP) and SumsofSquares (SOS) relaxations hav...
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A Quaternionbased Certifiably Optimal Solution to the Wahba Problem with Outliers
The Wahba problem, also known as rotation search, seeks to find the best...
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OutlierRobust Spatial Perception: Hardness, GeneralPurpose Algorithms, and Guarantees
Spatial perception is the backbone of many robotics applications, and sp...
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A Polynomialtime Solution for Robust Registration with Extreme Outlier Rates
We propose a robust approach for the registration of two sets of 3D poin...
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Incremental VisualInertial 3D Mesh Generation with Structural Regularities
VisualInertial Odometry (VIO) algorithms typically rely on a point clou...
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Robot Codesign: Beyond the Monotone Case
Recent advances in 3D printing and manufacturing of miniaturized robotic...
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Modeling Perceptual Aliasing in SLAM via DiscreteContinuous Graphical Models
Perceptual aliasing is one of the main causes of failure for Simultaneou...
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Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization
Markov Random Fields (MRFs) are a popular model for several pattern reco...
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Navion: A 2mW Fully Integrated RealTime VisualInertial Odometry Accelerator for Autonomous Navigation of Nano Drones
This paper presents Navion, an energyefficient accelerator for visuali...
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LQG Control and Sensing Codesign
LinearQuadraticGaussian (LQG) control is concerned with the design of ...
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Control and Sensing Codesign
LinearQuadraticGaussian (LQG) control is concerned with the design of ...
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Convex Relaxations for Pose Graph Optimization with Outliers
Pose Graph Optimization involves the estimation of a set of poses from p...
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Sparse Depth Sensing for ResourceConstrained Robots
We consider the case in which a robot has to navigate in an unknown envi...
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Luca Carlone
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