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09/19/2023
OASIS: Optimal Arrangements for Sensing in SLAM
The number and arrangement of sensors on an autonomous mobile robot dram...
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07/04/2023
Euclidean Equivariant Models for Generative Graphical Inverse Kinematics
Quickly and reliably finding accurate inverse kinematics (IK) solutions ...
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06/23/2023
CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots
The small size, high dexterity, and intrinsic compliance of continuum ro...
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02/13/2023
The Sum of Its Parts: Visual Part Segmentation for Inertial Parameter Identification of Manipulated Objects
To operate safely and efficiently alongside human workers, collaborative...
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09/19/2022
One Network, Many Robots: Generative Graphical Inverse Kinematics
Quickly and reliably finding accurate inverse kinematics (IK) solutions ...
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03/02/2022
Fast Object Inertial Parameter Identification for Collaborative Robots
Collaborative robots (cobots) are machines designed to work safely along...
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09/08/2021
Convex Iteration for Distance-Geometric Inverse Kinematics
Inverse kinematics (IK) is the problem of finding robot joint configurat...
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08/31/2021
Riemannian Optimization for Distance Geometric Inverse Kinematics
Solving the inverse kinematics problem is a fundamental challenge in mot...
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06/01/2021
A Question of Time: Revisiting the Use of Recursive Filtering for Temporal Calibration of Multisensor Systems
We examine the problem of time delay estimation, or temporal calibration...
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11/10/2020
Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion
The majority of inverse kinematics (IK) algorithms search for solutions ...
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06/01/2020
A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty
Accurate rotation estimation is at the heart of robot perception tasks s...
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05/17/2020
Certifiably Optimal Monocular Hand-Eye Calibration
Correct fusion of data from two sensors is not possible without an accur...
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09/20/2019
Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization
Inverse kinematics is a fundamental problem for articulated robots: fast...
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04/02/2019
Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging
Estimating unknown rotations from noisy measurements is an important ste...
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04/01/2019
Probabilistic Regression of Rotations using Quaternion Averaging and a Deep Multi-Headed Network
Accurate estimates of rotation are crucial to vision-based motion estima...
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09/10/2018
Certifiably Globally Optimal Extrinsic Calibration from Per-Sensor Egomotion
We present a certifiably globally optimal algorithm for determining the ...
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06/01/2018
Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection
Inter-robot loop closure detection is a core problem in collaborative SL...
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08/01/2017