Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection

18 September 2019

Vasileios Tzoumas

Papers citing "Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection"

48 / 48 papers shown

Title
Monocular visual simultaneous localization and mapping: (r)evolution from geometry to deep learning-based pipelines Olaya Álvarez-Tunón Yury Brodskiy Erdal Kayacan 73 6 0 04 Mar 2025
SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments Zehuan Yu Zhijian Qiao Wenyi Liu Huan Yin Shaojie Shen 33 2 0 13 Sep 2024
A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking Lorenzo Shaikewitz Samuel Ubellacker Luca Carlone 3DPC 60 0 0 24 Jun 2024
Occupancy-SLAM: Simultaneously Optimizing Robot Poses and Continuous Occupancy Map Liang Zhao Yingyu Wang Shoudong Huang 40 6 0 17 May 2024
IPC: Incremental Probabilistic Consensus-based Consistent Set Maximization for SLAM Backends Emilio Olivastri Alberto Pretto 40 0 0 14 May 2024
Scalable 3D Registration via Truncated Entry-wise Absolute Residuals Tianyu Huang Liangzu Peng René Vidal Yunhui Liu 37 6 0 01 Apr 2024
Efficient Graduated Non-Convexity for Pose Graph Optimization Wonseok Kang Jaehyun Kim Jiseong Chung Seung-Kuk Choi Tae-wan Kim 24 1 0 10 Oct 2023
Adaptive Graduated Non-Convexity for Pose Graph Optimization Seung-Kuk Choi Wonseok Kang Jiseong Chung Jaehyun Kim Taewoo Kim 28 2 0 22 Aug 2023
On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics Connor T. Holmes Frederike Dumbgen T. Barfoot 51 10 0 14 Aug 2023
PRISE: Demystifying Deep Lucas-Kanade with Strongly Star-Convex Constraints for Multimodel Image Alignment Yiqing Zhang Xinming Huang Ziming Zhang 36 4 0 21 Mar 2023
GMCR: Graph-based Maximum Consensus Estimation for Point Cloud Registration Michael Gentner P. Murali Mohsen Kaboli 3DPC 28 4 0 07 Mar 2023
Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems Pierre-Yves Lajoie Giovanni Beltrame 33 77 0 16 Jan 2023
Improving Self-Consistency in Underwater Mapping Through Laser-Based Loop Closure (Extended) Thomas Hitchcox James Richard Forbes 21 10 0 05 Jan 2023
Optimization for Amortized Inverse Problems Tianci Liu Tong Yang Quan Zhang Qi Lei 36 5 0 25 Oct 2022
LaMAR: Benchmarking Localization and Mapping for Augmented Reality Paul-Edouard Sarlin Mihai Dusmanu Johannes L. Schonberger Pablo Speciale Lukas Gruber Viktor Larsson O. Mikšík Marc Pollefeys 32 82 0 19 Oct 2022
Robust Incremental Smoothing and Mapping (riSAM) Daniel McGann J. Rogers Michael Kaess 43 10 0 28 Sep 2022
A Decoupled and Linear Framework for Global Outlier Rejection over Planar Pose Graph Tianyue Wu Fei Gao 18 3 0 18 Sep 2022
Safe and Smooth: Certified Continuous-Time Range-Only Localization Frederike Dumbgen Connor T. Holmes T. Barfoot 42 17 0 09 Sep 2022
Group- $k$ Consistent Measurement Set Maximization for Robust Outlier Detection B. Forsgren Ramanarayan Vasudevan Michael Kaess T. McLain Joshua G. Mangelson 35 4 0 06 Sep 2022
DynaVINS: A Visual-Inertial SLAM for Dynamic Environments Seungwon Song Hyungtae Lim A. Lee Hyun Myung 45 77 0 24 Aug 2022
Present and Future of SLAM in Extreme Underground Environments K. Ebadi Lukas Bernreiter Harel Biggie Gavin Catt Yun Chang ... Martin Saska Sebastian Scherer Roland Siegwart Jason L. Williams Luca Carlone 31 45 0 02 Aug 2022
Robust Self-Tuning Data Association for Geo-Referencing Using Lane Markings Miguel Ángel Muñoz Bañón Jan-Hendrik Pauls Haohao Hu Christoph Stiller F. Candelas Fernando Torres 10 6 0 28 Jul 2022
Towards Understanding The Semidefinite Relaxations of Truncated Least-Squares in Robust Rotation Search Liangzu Peng Mahyar Fazlyab René Vidal 29 2 0 18 Jul 2022
Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints J. Shi Heng Yang Luca Carlone 3DPC 3DV 19 12 0 24 Jun 2022
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM Chris Denniston Yun Chang Andrzej Reinke K. Ebadi Gaurav Sukhatme Luca Carlone B. Morrell Ali-akbar Agha-mohammadi 41 25 0 24 May 2022
Self-Supervised Domain Calibration and Uncertainty Estimation for Place Recognition Pierre-Yves Lajoie Giovanni Beltrame UQCV 22 9 0 08 Mar 2022
SLAM-Supported Self-Training for 6D Object Pose Estimation Ziqian Lu Yihao Zhang Kevin Doherty Odin Severinsen Ethan Yang John J. Leonard 58 10 0 08 Mar 2022
Fast and Robust Ground Surface Estimation from LIDAR Measurements using Uniform B-Splines Sascha Wirges Kevin Rösch Frank Bieder Christoph Stiller 11 4 0 02 Mar 2022
DANIEL: A Fast and Robust Consensus Maximization Method for Point Cloud Registration with High Outlier Ratios Lei Sun 3DPC 22 10 0 11 Oct 2021
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems Amanda Prorok Matthew Malencia Luca Carlone Gaurav Sukhatme Brian M. Sadler Vijay R. Kumar 97 53 0 25 Sep 2021
Scale-aware direct monocular odometry C. Campos Juan D. Tardós MDE 16 4 0 21 Sep 2021
Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization Heng Yang Luca Carlone 25 53 0 07 Sep 2021
Robust Event Detection based on Spatio-Temporal Latent Action Unit using Skeletal Information Hao Xing Yuxuan Xue Mingchuan Zhou Darius Burschka 27 4 0 06 Sep 2021
Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape Pierre-Yves Lajoie Benjamin Ramtoula Fang Wu Giovanni Beltrame 23 61 0 18 Aug 2021
Majorization Minimization Methods for Distributed Pose Graph Optimization Taosha Fan Todd D. Murphey 34 18 0 30 Jul 2021
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems Yulun Tian Yun Chang Fernando Herrera Arias Carlos Nieto-Granda Jonathan P. How Luca Carlone 25 172 0 28 Jun 2021
An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization Heng Yang Ling Liang Luca Carlone Kim-Chuan Toh 19 29 0 28 May 2021
RANSIC: Fast and Highly Robust Estimation for Rotation Search and Point Cloud Registration using Invariant Compatibility Lei Sun 3DPC 26 23 0 19 Apr 2021
Optimal Pose and Shape Estimation for Category-level 3D Object Perception J. Shi Heng Yang Luca Carlone 29 26 0 16 Apr 2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge A. Agha K. Otsu B. Morrell David D. Fan Rohan Thakker ... Giovanni Beltrame G. Nikolakopoulos David Hyunchul Shim Luca Carlone J. W. Burdick 35 142 0 21 Mar 2021
Rotation Coordinate Descent for Fast Globally Optimal Rotation Averaging Álvaro Parra Shin-Fang Chng Tat-Jun Chin Anders P. Eriksson Ian Reid 26 15 0 15 Mar 2021
Advances in Inference and Representation for Simultaneous Localization and Mapping David M. Rosen Kevin Doherty A. Espinoza J. Leonard 35 64 0 08 Mar 2021
Self-supervised Geometric Perception Heng Yang W. Dong Luca Carlone V. Koltun 27 36 0 04 Mar 2021
Semantics for Robotic Mapping, Perception and Interaction: A Survey Sourav Garg Niko Sünderhauf Feras Dayoub D. Morrison Akansel Cosgun ... Tat-Jun Chin Ian Reid Stephen Gould Peter Corke Michael Milford 22 115 0 02 Jan 2021
One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers Heng Yang Luca Carlone 23 32 0 11 Jun 2020
Globally optimal consensus maximization for robust visual inertial localization in point and line map Yanmei Jiao Yue Wang Bo Fu Qimeng Tan Lei Chen Shoudong Huang R. Xiong 27 7 0 27 Feb 2020
In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks Heng Yang Luca Carlone 3DV 11 36 0 27 Nov 2019
A Theory of Uncertainty Variables for State Estimation and Inference Rajat Talak S. Karaman E. Modiano 11 1 0 24 Sep 2019