We propose the first fast and certifiable algorithm for the registration of two sets of three-
dimensional (3-D) points in the presence of large amounts of outlier correspondences. A …

Direct methods for visual odometry (VO) have gained popularity for their capability to exploit
information from all intensity gradients in the image. However, low computational speed as …

A key aspect of robotics today is estimating the state (eg, position and orientation) of a robot,
based on noisy sensor data. This book targets students and practitioners of robotics by …

We present DM-VIO, a monocular visual-inertial odometry system based on two novel
techniques called delayed marginalization and pose graph bundle adjustment. DM-VIO …

We present an efficient multi-sensor odometry system for mobile platforms that jointly
optimizes visual, lidar, and inertial information within a single integrated factor graph. This …

We present visual inertial lidar legged navigation system (VILENS), an odometry system for
legged robots based on factor graphs. The key novelty is the tight fusion of four different …

In this paper, a simultaneous localization and mapping (SLAM) method that eliminates the
influence of moving objects in dynamic environments is proposed. This method utilizes the …

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 …

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 …

We propose a robust approach for the registration of two sets of 3D points in the presence of
a large amount of outliers. Our first contribution is to reformulate the registration problem …