1 code implementation • 19 Jul 2022 • Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky T. Q. Chen, Joseph Ortiz, Daniel DeTone, Austin Wang, Stuart Anderson, Jing Dong, Brandon Amos, Mustafa Mukadam
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.
no code implementations • ICCV 2021 • Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd Murphey, Mustafa Mukadam
We propose a novel sparse constrained formulation and from it derive a real-time optimization method for 3D human pose and shape estimation.
no code implementations • 4 Dec 2020 • Taosha Fan, Todd Murphey
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
1 code implementation • 25 Jun 2020 • Taosha Fan, Hanlin Wang, Michael Rubenstein, Todd Murphey
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.
no code implementations • 11 Mar 2020 • Taosha Fan, Todd Murphey
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).