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2020 – today
- 2023
[j39]Luca Carlone:
Estimation Contracts for Outlier-Robust Geometric Perception. Found. Trends Robotics 11(2-3): 90-224 (2023)- [j38]Heng Yang, Ling Liang
, Luca Carlone, Kim-Chuan Toh:
An inexact projected gradient method with rounding and lifting by nonlinear programming for solving rank-one semidefinite relaxation of polynomial optimization. Math. Program. 201(1): 409-472 (2023) - [j37]Heng Yang, Luca Carlone:
Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization. IEEE Trans. Pattern Anal. Mach. Intell. 45(3): 2816-2834 (2023) - [j36]Julio A. Placed, Jared Strader, Henry Carrillo, Nikolay Atanasov, Vadim Indelman, Luca Carlone, José A. Castellanos:
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers. IEEE Trans. Robotics 39(3): 1686-1705 (2023) - [j35]Rajat Talak, Lisa R. Peng, Luca Carlone:
Certifiable Object Pose Estimation: Foundations, Learning Models, and Self-Training. IEEE Trans. Robotics 39(4): 2805-2824 (2023) - [c72]Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady G. Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Kun Cao, Yi Du, Han Wang, Huai Yu, Shanzhao Wang, Siyu Chen, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Lihua Xie, Luca Carlone, Marco Hutter, Sebastian A. Scherer:
PyPose: A Library for Robot Learning with Physics-based Optimization. CVPR 2023: 22024-22034 - [c71]Dominic Maggio, Marcus Abate, Jingnan Shi, Courtney Mario, Luca Carlone:
Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields. ICRA 2023: 4018-4025 - [c70]Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi:
Data-Association-Free Landmark-based SLAM. ICRA 2023: 8349-8355 - [c69]Pasquale Antonante, Sushant Veer, Karen Leung, Xinshuo Weng, Luca Carlone, Marco Pavone:
Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles. Robotics: Science and Systems 2023 - [c68]Jingnan Shi, Rajat Talak, Dominic Maggio, Luca Carlone:
A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training. Robotics: Science and Systems 2023 - [c67]Antoni Rosinol, John J. Leonard, Luca Carlone:
Probabilistic Volumetric Fusion for Dense Monocular SLAM. WACV 2023: 3096-3104 - [i84]Jingnan Shi, Rajat Talak, Dominic Maggio, Luca Carlone:
A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training. CoRR abs/2302.06019 (2023) - [i83]Dominic Maggio, Courtney Mario, Brett Streetman, Ted J. Steiner, Luca Carlone:
Vision-Based Terrain Relative Navigation on High-Altitude Balloon and Sub-Orbital Rocket. CoRR abs/2302.08011 (2023) - [i82]Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi:
Data-Association-Free Landmark-based SLAM. CoRR abs/2302.13264 (2023) - [i81]Yulun Tian, Yun Chang, Long Quang, Arthur Schang, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone:
Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned. CoRR abs/2304.04362 (2023) - [i80]Marcus Abate, Ariel Schwartz, Xue Iuan Wong, Wangdong Luo, Rotem Littman, Marc Klinger, Lars Kuhnert, Douglas Blue, Luca Carlone:
Multi-Camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking. CoRR abs/2304.13182 (2023) - [i79]Yun Chang, Nathan Hughes, Aaron Ray, Luca Carlone:
Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams. CoRR abs/2304.13487 (2023) - [i78]Pasquale Antonante, Sushant Veer, Karen Leung, Xinshuo Weng, Luca Carlone, Marco Pavone:
Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles. CoRR abs/2305.01870 (2023) - [i77]Nathan Hughes, Yun Chang, Siyi Hu, Rajat Talak, Rumaisa Abdulhai, Jared Strader, Luca Carlone:
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems. CoRR abs/2305.07154 (2023) - [i76]Dominic Maggio, Courtney Mario, Luca Carlone:
VERF: Runtime Monitoring of Pose Estimation with Neural Radiance Fields. CoRR abs/2308.05939 (2023) - [i75]Samuel Ubellacker, Aaron Ray, James Bern, Jared Strader, Luca Carlone:
Aggressive Aerial Grasping using a Soft Drone with Onboard Perception. CoRR abs/2308.06351 (2023) - [i74]Zitong Zhan, Xiangfu Li, Qihang Li, Haonan He, Abhinav Pandey, Haitao Xiao, Yangmengfei Xu, Xiangyu Chen, Kuan Xu, Kun Cao, Zhipeng Zhao, Zihan Wang, Huan Xu, Zihang Fang, Yutian Chen, Wentao Wang, Xu Fang, Yi Du, Tianhao Wu, Xiao Lin, Yuheng Qiu, Fan Yang, Jingnan Shi, Shaoshu Su, Yiren Lu, Taimeng Fu, Karthik Dantu, Jiajun Wu, Lihua Xie, Marco Hutter, Luca Carlone, Sebastian A. Scherer, Daning Huang, Yaoyu Hu, Junyi Geng, Chen Wang:
PyPose v0.6: The Imperative Programming Interface for Robotics. CoRR abs/2309.13035 (2023) - 2022
- [j34]Andrzej Reinke, Matteo Palieri, Benjamin Morrell, Yun Chang, Kamak Ebadi, Luca Carlone, Ali-Akbar Agha-Mohammadi:
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping. IEEE Robotics Autom. Lett. 7(4): 9043-9050 (2022) - [j33]Yun Chang, Kamak Ebadi, Christopher E. Denniston, Muhammad Fadhil Ginting, Antoni Rosinol, Andrzej Reinke, Matteo Palieri, Jingnan Shi, Arghya Chatterjee, Benjamin Morrell, Ali-akbar Agha-mohammadi, Luca Carlone:
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments. IEEE Robotics Autom. Lett. 7(4): 9175-9182 (2022) - [j32]Christopher E. Denniston, Yun Chang, Andrzej Reinke, Kamak Ebadi, Gaurav S. Sukhatme, Luca Carlone, Benjamin Morrell, Ali-akbar Agha-mohammadi:
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM. IEEE Robotics Autom. Lett. 7(4): 9651-9658 (2022) - [j31]Pasquale Antonante, Vasileios Tzoumas, Heng Yang, Luca Carlone:
Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications. IEEE Trans. Robotics 38(1): 281-301 (2022) - [j30]Yulun Tian, Yun Chang, Fernando Herrera Arias, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone:
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems. IEEE Trans. Robotics 38(4): 2022-2038 (2022) - [c66]Zachary Ravichandran, Lisa Peng, Nathan Hughes, J. Daniel Griffith, Luca Carlone:
Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks. ICRA 2022: 9272-9279 - [c65]Nathan Hughes, Yun Chang, Luca Carlone:
Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization. Robotics: Science and Systems 2022 - [i73]Nathan Hughes, Yun Chang, Luca Carlone:
Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization. CoRR abs/2201.13360 (2022) - [i72]Pasquale Antonante, Heath Nilsen, Luca Carlone:
Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification. CoRR abs/2205.10906 (2022) - [i71]Andrzej Reinke, Matteo Palieri, Benjamin Morrell, Yun Chang, Kamak Ebadi, Luca Carlone, Ali-akbar Agha-mohammadi:
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping. CoRR abs/2205.11784 (2022) - [i70]Christopher E. Denniston, Yun Chang, Andrzej Reinke, Kamak Ebadi, Gaurav S. Sukhatme, Luca Carlone, Benjamin Morrell, Ali-akbar Agha-mohammadi:
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM. CoRR abs/2205.12402 (2022) - [i69]Yun Chang, Kamak Ebadi, Christopher E. Denniston, Muhammad Fadhil Ginting, Antoni Rosinol, Andrzej Reinke, Matteo Palieri, Jingnan Shi, Arghya Chatterjee, Benjamin Morrell, Ali-akbar Agha-mohammadi, Luca Carlone:
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments. CoRR abs/2205.13135 (2022) - [i68]Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas, Golnaz Habibi, Markus Ryll, Rajat Talak, Jingnan Shi, Pasquale Antonante:
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT. CoRR abs/2206.00777 (2022) - [i67]William Chen, Siyi Hu, Rajat Talak, Luca Carlone:
Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding. CoRR abs/2206.04585 (2022) - [i66]Rajat Talak, Lisa Peng, Luca Carlone:
Correct and Certify: A New Approach to Self-Supervised 3D-Object Perception. CoRR abs/2206.11215 (2022) - [i65]Jingnan Shi, Heng Yang, Luca Carlone:
Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints. CoRR abs/2206.12498 (2022) - [i64]Julio A. Placed, Jared Strader, Henry Carrillo, Nikolay Atanasov, Vadim Indelman, Luca Carlone, José A. Castellanos:
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers. CoRR abs/2207.00254 (2022) - [i63]Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone:
Present and Future of SLAM in Extreme Underground Environments. CoRR abs/2208.01787 (2022) - [i62]Luca Carlone:
Estimation Contracts for Outlier-Robust Geometric Perception. CoRR abs/2208.10521 (2022) - [i61]William Chen, Siyi Hu, Rajat Talak, Luca Carlone:
Leveraging Large Language Models for Robot 3D Scene Understanding. CoRR abs/2209.05629 (2022) - [i60]Yun Chang, Luca Ballotta, Luca Carlone:
D-Lite: Navigation-Oriented Compression of 3D Scene Graphs under Communication Constraints. CoRR abs/2209.06111 (2022) - [i59]Dominic Maggio, Marcus Abate, Jingnan Shi, Courtney Mario, Luca Carlone:
Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields. CoRR abs/2209.09050 (2022) - [i58]Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady G. Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Han Wang, Huai Yu, Shanzhao Wang, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Luca Carlone, Marco Hutter, Sebastian A. Scherer:
PyPose: A Library for Robot Learning with Physics-based Optimization. CoRR abs/2209.15428 (2022) - [i57]Antoni Rosinol, John J. Leonard, Luca Carlone:
Probabilistic Volumetric Fusion for Dense Monocular SLAM. CoRR abs/2210.01276 (2022) - [i56]Antoni Rosinol, John J. Leonard, Luca Carlone:
NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. CoRR abs/2210.13641 (2022) - 2021
- [j29]Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone:
Kimera: From SLAM to spatial perception with 3D dynamic scene graphs. Int. J. Robotics Res. 40(12-14): 1510-1546 (2021) - [j28]Matteo Palieri, Benjamin Morrell, Abhishek Thakur, Kamak Ebadi, Jeremy Nash, Arghya Chatterjee, Christoforos Kanellakis, Luca Carlone, Cataldo Guaragnella, Ali-akbar Agha-mohammadi:
LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time. IEEE Robotics Autom. Lett. 6(1): 421-428 (2021) - [j27]Matteo Palieri, Benjamin Morrell, Abhishek Thakur, Kamak Ebadi, Jeremy Nash, Arghya Chatterjee, Christoforos Kanellakis, Luca Carlone, Cataldo Guaragnella, Ali-akbar Agha-mohammadi:
Corrections to "LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time". IEEE Robotics Autom. Lett. 6(2): 3760 (2021) - [j26]Vasileios Tzoumas, Luca Carlone, George J. Pappas, Ali Jadbabaie:
LQG Control and Sensing Co-Design. IEEE Trans. Autom. Control. 66(4): 1468-1483 (2021) - [j25]Heng Yang, Jingnan Shi, Luca Carlone:
TEASER: Fast and Certifiable Point Cloud Registration. IEEE Trans. Robotics 37(2): 314-333 (2021) - [c64]Heng Yang, Wei Dong, Luca Carlone, Vladlen Koltun:
Self-Supervised Geometric Perception. CVPR 2021: 14350-14361 - [c63]Yun Chang, Yulun Tian, Jonathan P. How, Luca Carlone:
Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping. ICRA 2021: 11210-11218 - [c62]Jingnan Shi, Heng Yang, Luca Carlone:
ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants. ICRA 2021: 13820-13827 - [c61]Pasquale Antonante, David I. Spivak, Luca Carlone:
Monitoring and Diagnosability of Perception Systems. IROS 2021: 168-175 - [c60]Joshua Fishman, Samuel Ubellacker, Nathan Hughes, Luca Carlone:
Dynamic Grasping with a "Soft" Drone: From Theory to Practice. IROS 2021: 4214-4221 - [c59]Antoni Rosinol, Luca Carlone:
Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization. IROS 2021: 6633-6640 - [c58]Rajat Talak, Siyi Hu, Lisa Peng, Luca Carlone:
Neural Trees for Learning on Graphs. NeurIPS 2021: 26395-26408 - [c57]Jingnan Shi, Heng Yang, Luca Carlone:
Optimal Pose and Shape Estimation for Category-level 3D Object Perception. Robotics: Science and Systems 2021 - [c56]Vishrant Tripathi, Luca Ballotta, Luca Carlone, Eytan H. Modiano:
Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems. WiOpt 2021: 65-72 - [i55]Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone:
Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs. CoRR abs/2101.06894 (2021) - [i54]Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai, Angel Santamaria-Navarro, Jonathan P. How, Luca Carlone, Ali-akbar Agha-mohammadi:
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments. CoRR abs/2102.03443 (2021) - [i53]Heng Yang, Wei Dong, Luca Carlone, Vladlen Koltun:
Self-supervised Geometric Perception. CoRR abs/2103.03114 (2021) - [i52]Joshua Fishman, Samuel Ubellacker, Nathan Hughes, Luca Carlone:
Dynamic Grasping with a "Soft" Drone: From Theory to Practice. CoRR abs/2103.06465 (2021) - [i51]Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Thomas Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick:
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. CoRR abs/2103.11470 (2021) - [i50]Jingnan Shi, Heng Yang, Luca Carlone:
Optimal Pose and Shape Estimation for Category-level 3D Object Perception. CoRR abs/2104.08383 (2021) - [i49]Rajat Talak, Siyi Hu, Lisa Peng, Luca Carlone:
Neural Trees for Learning on Graphs. CoRR abs/2105.07264 (2021) - [i48]Heng Yang, Ling Liang, Kim-Chuan Toh, Luca Carlone:
STRIDE along Spectrahedral Vertices for Solving Large-Scale Rank-One Semidefinite Relaxations. CoRR abs/2105.14033 (2021) - [i47]Yulun Tian, Yun Chang, Fernando Herrera Arias, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone:
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems. CoRR abs/2106.14386 (2021) - [i46]Zachary Ravichandran, Lisa Peng, Nathan Hughes, J. Daniel Griffith, Luca Carlone:
Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks. CoRR abs/2108.01176 (2021) - [i45]Antoni Rosinol, Luca Carlone:
Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization. CoRR abs/2108.02957 (2021) - [i44]Vishrant Tripathi, Luca Ballotta, Luca Carlone, Eytan H. Modiano:
Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems. CoRR abs/2108.03122 (2021) - [i43]Heng Yang, Luca Carlone:
Certifiable Outlier-Robust Geometric Perception: Exact Semidefinite Relaxations and Scalable Global Optimization. CoRR abs/2109.03349 (2021) - [i42]Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar:
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems. CoRR abs/2109.12343 (2021) - 2020
- [j24]Heng Yang, Pasquale Antonante, Vasileios Tzoumas, Luca Carlone:
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection. IEEE Robotics Autom. Lett. 5(2): 1127-1134 (2020) - [j23]Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang, Luca Carlone, Giovanni Beltrame:
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams. IEEE Robotics Autom. Lett. 5(2): 1656-1663 (2020) - [j22]Luca Ballotta, Luca Schenato, Luca Carlone:
Computation-Communication Trade-Offs and Sensor Selection in Real-Time Estimation for Processing Networks. IEEE Trans. Netw. Sci. Eng. 7(4): 2952-2965 (2020) - [c55]Heng Yang, Luca Carlone:
In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction From 2D Landmarks. CVPR 2020: 618-627 - [c54]Frank Dellaert, David M. Rosen, Jing Wu, Robert E. Mahony, Luca Carlone:
Shonan Rotation Averaging: Global Optimality by Surfing SO(p)n. ECCV (6) 2020: 292-308 - [c53]Kamak Ebadi, Yun Chang, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden, Abhishek Thakur, Nobuhiro Funabiki, Benjamin Morrell, Sally L. Wood, Luca Carlone, Ali-akbar Agha-mohammadi:
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments. ICRA 2020: 80-86 - [c52]Antoni Rosinol, Marcus Abate, Yun Chang, Luca Carlone:
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping. ICRA 2020: 1689-1696 - [c51]Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai, Angel Santamaria-Navarro, Jonathan P. How, Luca Carlone, Ali-akbar Agha-mohammadi:
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments. ISER 2020: 380-390 - [c50]Arjun Gupta, Luca Carlone:
Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation. ITSC 2020: 1-8 - [c49]Heng Yang, Luca Carlone:
One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers. NeurIPS 2020 - [c48]Francesco Milano, Antonio Loquercio, Antoni Rosinol, Davide Scaramuzza, Luca Carlone:
Primal-Dual Mesh Convolutional Neural Networks. NeurIPS 2020 - [c47]Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone:
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans. Robotics: Science and Systems 2020 - [i41]Heng Yang, Jingnan Shi, Luca Carlone:
TEASER: Fast and Certifiable Point Cloud Registration. CoRR abs/2001.07715 (2020) - [i40]Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone:
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans. CoRR abs/2002.06289 (2020) - [i39]Kamak Ebadi, Yun Chang, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden, Abhishek Thakur, Nobuhiro Funabiki, Benjamin Morrell, Sally L. Wood, Luca Carlone, Ali-akbar Agha-mohammadi:
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments. CoRR abs/2003.01744 (2020) - [i38]Luca Ballotta, Luca Schenato, Luca Carlone:
From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency. CoRR abs/2003.08301 (2020) - [i37]Joshua Fishman, Luca Carlone:
Control and Trajectory Optimization for Soft Aerial Manipulation. CoRR abs/2004.04238 (2020) - [i36]Arjun Gupta, Luca Carlone:
Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation. CoRR abs/2005.05451 (2020) - [i35]Pasquale Antonante, David I. Spivak, Luca Carlone:
Monitoring and Diagnosability of Perception Systems. CoRR abs/2005.11816 (2020) - [i34]Heng Yang, Luca Carlone:
One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers. CoRR abs/2006.06769 (2020) - [i33]Pasquale Antonante, Vasileios Tzoumas, Heng Yang, Luca Carlone:
Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications. CoRR abs/2007.15109 (2020) - [i32]Frank Dellaert, David M. Rosen, Jing Wu, Robert E. Mahony, Luca Carlone:
Shonan Rotation Averaging: Global Optimality by Surfing SO(p)n. CoRR abs/2008.02737 (2020) - [i31]Francesco Milano, Antonio Loquercio, Antoni Rosinol, Davide Scaramuzza, Luca Carlone:
Primal-Dual Mesh Convolutional Neural Networks. CoRR abs/2010.12455 (2020) - [i30]Jingnan Shi, Heng Yang, Luca Carlone:
ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants. CoRR abs/2011.03659 (2020) - [i29]Yun Chang, Yulun Tian, Jonathan P. How, Luca Carlone:
Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping. CoRR abs/2011.04087 (2020) - [i28]Pasquale Antonante, David I. Spivak, Luca Carlone:
Monitoring and Diagnosability of Perception Systems. CoRR abs/2011.07010 (2020) - [i27]Matteo Palieri, Benjamin Morrell, Abhishek Thakur, Kamak Ebadi, Jeremy Nash, Arghya Chatterjee, Christoforos Kanellakis, Luca Carlone, Cataldo Guaragnella, Ali-Akbar Agha-Mohammadi:
LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time. CoRR abs/2012.14447 (2020)
2010 – 2019
- 2019
- [j21]David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard:
SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group. Int. J. Robotics Res. 38(2-3) (2019) - [j20]Fangchang Ma, Luca Carlone, Ulas Ayaz, Sertac Karaman:
Sparse depth sensing for resource-constrained robots. Int. J. Robotics Res. 38(8) (2019) - [j19]Amr Suleiman, Zhengdong Zhang, Luca Carlone, Sertac Karaman, Vivienne Sze:
Navion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. IEEE J. Solid State Circuits 54(4): 1106-1119 (2019) - [j18]Pierre-Yves Lajoie, Siyi Hu, Giovanni Beltrame, Luca Carlone:
Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models. IEEE Robotics Autom. Lett. 4(2): 1232-1239 (2019) - [j17]Siyi Hu, Luca Carlone:
Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization. IEEE Robotics Autom. Lett. 4(2): 1295-1302 (2019) - [j16]Luca Carlone, Sertac Karaman:
Attention and Anticipation in Fast Visual-Inertial Navigation. IEEE Trans. Robotics 35(1): 1-20 (2019) - [c46]Heng Yang, Luca Carlone:
A Quaternion-Based Certifiably Optimal Solution to the Wahba Problem With Outliers. ICCV 2019: 1665-1674 - [c45]