Search Results for author: Taosha Fan

Found 5 papers, 2 papers with code

Theseus: A Library for Differentiable Nonlinear Optimization

1 code implementation19 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.

Generalized Proximal Methods for Pose Graph Optimization

no code implementations4 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

CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation

1 code implementation25 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.

Simultaneous Localization and Mapping

Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees

no code implementations11 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).

Simultaneous Localization and Mapping

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