Beyond robustness: A taxonomy of approaches towards resilient multi-robot systems
A Prorok, M Malencia, L Carlone, GS Sukhatme… - ar** (SLAM) is a crucial capability to obtain
timely situational awareness over large areas. Real-world applications demand multi-robot …
timely situational awareness over large areas. Real-world applications demand multi-robot …
Object pose estimation with statistical guarantees: Conformal keypoint detection and geometric uncertainty propagation
The two-stage object pose estimation paradigm first detects semantic keypoints on the
image and then estimates the 6D pose by minimizing reprojection errors. Despite performing …
image and then estimates the 6D pose by minimizing reprojection errors. Despite performing …
Estimation contracts for outlier-robust geometric perception
L Carlone - Foundations and Trends® in Robotics, 2023 - nowpublishers.com
Outlier-robust estimation is a fundamental problem and has been extensively investigated
by statisticians and practitioners. The last few years have seen a convergence across …
by statisticians and practitioners. The last few years have seen a convergence across …
Certifiably optimal outlier-robust geometric perception: Semidefinite relaxations and scalable global optimization
We propose the first general and scalable framework to design certifiable algorithms for
robust geometric perception in the presence of outliers. Our first contribution is to show that …
robust geometric perception in the presence of outliers. Our first contribution is to show that …
Foundations of spatial perception for robotics: Hierarchical representations and real-time systems
3D spatial perception is the problem of building and maintaining an actionable and
persistent representation of the environment in real-time using sensor data and prior …
persistent representation of the environment in real-time using sensor data and prior …
A State‐of‐the‐Art Computer Vision Adopting Non‐Euclidean Deep‐Learning Models
A distance metric known as non‐Euclidean distance deviates from the laws of Euclidean
geometry, which is the geometry that governs most physical spaces. It is utilized when …
geometry, which is the geometry that governs most physical spaces. It is utilized when …
On the convergence of IRLS and its variants in outlier-robust estimation
Outlier-robust estimation involves estimating some parameters (eg, 3D rotations) from data
samples in the presence of outliers, and is typically formulated as a non-convex and non …
samples in the presence of outliers, and is typically formulated as a non-convex and non …
ROBIN: a graph-theoretic approach to reject outliers in robust estimation using invariants
Many estimation problems in robotics, computer vision, and learning require estimating
unknown quantities in the face of outliers. Outliers are typically the result of incorrect data …
unknown quantities in the face of outliers. Outliers are typically the result of incorrect data …