Search Results for author:
Found 7 papers, 3 papers with code
Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation
Our neural representation driven by multimodal sensing can serve as a perception backbone towards advancing robot dexterity.
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment
In this paper, we present a fully decentralized method that alleviates computation and communication bottlenecks to solve arbitrarily large bundle adjustment problems.
Theseus: A Library for Differentiable Nonlinear Optimization
We present Theseus, an efficient application-agnostic open source library for differentiable nonlinear least squares (DNLS) optimization built on PyTorch, providing a common framework for end-to-end structured learning in robotics and vision.
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation
We propose a novel sparse constrained formulation and from it derive a real-time optimization method for 3D human pose and shape estimation.
Generalized Proximal Methods for Pose Graph Optimization
In this paper, we generalize proximal methods that were originally designed for convex optimization on normed vector space to non-convex pose graph optimization (PGO) on special Euclidean groups, and show that our proposed generalized proximal methods for PGO converge to first-order critical points.
Simultaneous Localization and Mapping
Optimization and Control
Robotics
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation
In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks.
Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees
In this paper, we consider the problem of distributed pose graph optimization (PGO) that has extensive applications in multi-robot simultaneous localization and mapping (SLAM).
