Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization

7 September 2021

Papers citing "Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization"

39 / 39 papers shown

Title
A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling Lujie Yang Tobia Marcucci P. Parrilo Russ Tedrake 42 3 0 17 Apr 2025
Globally Optimal Data-Association-Free Landmark-Based Localization Using Semidefinite Relaxations Vassili Korotkine Mitchell R. Cohen James Richard Forbes 37 0 0 11 Apr 2025
Certifiably Optimal Anisotropic Rotation Averaging Carl Olsson Yaroslava Lochman Johan Malmport Christopher Zach 39 0 0 10 Mar 2025
Towards Robust Probabilistic Modeling on SO(3) via Rotation Laplace Distribution Yingda Yin Jiangran Lyu Yang Wang Heru Wang H. Wang B. Chen OOD 94 4 0 24 Feb 2025
Robust Nonprehensile Object Transportation with Uncertain Inertial Parameters Adam Heins Angela P. Schoellig 33 0 0 11 Nov 2024
A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking Lorenzo Shaikewitz Samuel Ubellacker Luca Carlone 3DPC 56 0 0 24 Jun 2024
Fast and Certifiable Trajectory Optimization Shucheng Kang Xiaoyang Xu Jay Sarva Ling Liang Heng Yang 46 8 0 09 Jun 2024
Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization Frederike Dumbgen Connor T. Holmes Timothy D. Barfoot 44 1 0 04 Jun 2024
Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization Tianyue Wu Gongye Zaitian Qianhao Wang Fei Gao 42 4 0 31 May 2024
SLAM-based Joint Calibration of Multiple Asynchronous Microphone Arrays and Sound Source Localization Jiang Wang Yuanzheng He Daobilige Su Katsutoshi Itoyama Kazuhiro Nakadai Junfeng Wu Shoudong Huang Youfu Li He Kong 29 7 0 30 May 2024
SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics Connor T. Holmes Frederike Dumbgen Tim D. Barfoot 49 3 0 29 May 2024
Safe and Efficient Estimation for Robotics through the Optimal Use of Resources Frederike Dumbgen OffRL 36 0 0 29 May 2024
Efficient and Robust Point Cloud Registration via Heuristics-guided Parameter Search Tianyu Huang Haoang Li Liangzu Peng Yinlong Liu Yunhui Liu 36 3 0 09 Apr 2024
CLOSURE: Fast Quantification of Pose Uncertainty Sets Yihuai Gao Yukai Tang Han Qi Heng Yang 19 5 0 15 Mar 2024
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise Sangli Teng Harry Zhang David Jin A. Jasour Maani Ghaffari Luca Carlone 46 10 0 07 Mar 2024
Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds David Jin Sushrut Karmalkar Harry Zhang Luca Carlone 3DPC 35 12 0 16 Feb 2024
Optimal Initialization Strategies for Range-Only Trajectory Estimation Abhishek Goudar Frederike Dumbgen T. Barfoot Angela P. Schoellig 30 9 0 16 Sep 2023
SIM-Sync: From Certifiably Optimal Synchronization over the 3D Similarity Group to Scene Reconstruction with Learned Depth Xihang Yu Heng Yang 3DH 20 3 0 11 Sep 2023
Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map T. Barfoot Connor T. Holmes Frederike Dumbgen 19 9 0 23 Aug 2023
G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model Zhijian Qiao Zehuan Yu Binqian Jiang Huan Yin Shaojie Shen 3DPC 24 16 0 22 Aug 2023
On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics Connor T. Holmes Frederike Dumbgen T. Barfoot 44 10 0 14 Aug 2023
VERF: Runtime Monitoring of Pose Estimation with Neural Radiance Fields Dominic Maggio C. Mario Luca Carlone 21 3 0 11 Aug 2023
Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations Frederike Dumbgen Connor T. Holmes Ben Agro T. Barfoot 21 10 0 10 Aug 2023
Group- $k$ consistent measurement set maximization via maximum clique over k-Uniform hypergraphs for robust multi-robot map merging B. Forsgren Ramanarayan Vasudevan Michael Kaess T. McLain Joshua G. Mangelson 26 4 0 04 Aug 2023
A Probabilistic Relaxation of the Two-Stage Object Pose Estimation Paradigm Onur Beker 3DV 8 0 0 01 Jun 2023
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation Sangli Teng A. Jasour Ram Vasudevan Maani Ghaffari 37 13 0 23 May 2023
An Adaptive Graduated Nonconvexity Loss Function for Robust Nonlinear Least Squares Solutions Kyung-Tae Jung Thomas Hitchcox James Richard Forbes OOD 27 2 0 11 May 2023
Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagation Heng Yang Marco Pavone 25 35 0 22 Mar 2023
Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation Shucheng Kang Yuxiao Chen Heng Yang Marco Pavone 22 17 0 17 Mar 2023
Semidefinite Relaxations for Robust Multiview Triangulation Linus Harenstam-Nielsen Niclas Zeller Daniel Cremers 3DV 17 4 0 26 Jan 2023
Snapshot of Algebraic Vision Joe Kileel Kathlén Kohn 21 13 0 20 Oct 2022
Robustness Certification of Visual Perception Models via Camera Motion Smoothing Hanjiang Hu Zuxin Liu Linyi Li Jiacheng Zhu Ding Zhao AAML 26 6 0 04 Oct 2022
A Decoupled and Linear Framework for Global Outlier Rejection over Planar Pose Graph Tianyue Wu Fei Gao 16 3 0 18 Sep 2022
Estimation Contracts for Outlier-Robust Geometric Perception Luca Carlone 25 22 0 22 Aug 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 13 12 0 24 Jun 2022
Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Training Rajat Talak Lisa Peng Luca Carlone 3DPC 30 8 0 22 Jun 2022
Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification Pasquale Antonante Heath Nilsen Luca Carlone 37 24 0 22 May 2022
TEASER: Fast and Certifiable Point Cloud Registration Heng Yang J. Shi Luca Carlone 3DPC 127 657 0 21 Jan 2020
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection Heng Yang Pasquale Antonante Vasileios Tzoumas Luca Carlone 159 224 0 18 Sep 2019