Search Results for author: Kasra Khosoussi

Found 3 papers, 2 papers with code

Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows

1 code implementation • 2 Oct 2021 • Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard

This paper presents normalizing flows for incremental smoothing and mapping (NF-iSAM), a novel algorithm for inferring the full posterior distribution in SLAM problems with nonlinear measurement models and non-Gaussian factors.

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Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints

no code implementations • 2 Mar 2019 • Yulun Tian, Kasra Khosoussi, Jonathan P. How

The so-called Burer-Monteiro method is a well-studied technique for solving large-scale semidefinite programs (SDPs) via low-rank factorization.

Riemannian optimization

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CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-View Data Association

1 code implementation • 6 Feb 2019 • Kaveh Fathian, Kasra Khosoussi, Yulun Tian, Parker Lusk, Jonathan P. How

Many robotics applications require alignment and fusion of observations obtained at multiple views to form a global model of the environment.

Clustering Graph Clustering +1

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