Publications

Owen Howell, Haoen Huang, David M. Rosen (2023). Multi-Irreducible Spectral Synchronization for Robust Rotation Averaging.

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Pushyami Kaveti, Matthew Giamou, Hanumant Singh, David M. Rosen (2023). OASIS: Optimal Arrangements for Sensing in SLAM.

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Alan Papalia, Joseph Morales, Kevin J. Doherty, David M. Rosen, John J. Leonard (2023). SCORE: A Second-Order Conic Initialization for Range-Aided SLAM. ICRA.

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Alan Papalia, Andrew Fishberg, Brendan W. O'Neill, Jonathan P. How, David M. Rosen, John J. Leonard (2023). Certifiably Correct Range-Aided SLAM.

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Kevin J. Doherty, David M. Rosen, John J. Leonard (2022). Spectral Measurement Sparsification for Pose-Graph SLAM. IROS.

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David M. Rosen (2022). Accelerating Certifiable Estimation with Preconditioned Eigensolvers. RA-L.

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Yulun Tian, Amrit Singh Bedi, Alec Koppel, Miguel Calvo-Fullana, David M. Rosen, Jonathan P. How (2022). Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation. IROS.

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Qiangqiang Huang, Can Pu, Kasra Khousoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard (2022). Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows. T-RO.

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Matthew Giamou, Filip Maric, David M. Rosen, Valentin Peretroukhin, Nicholas Roy, Ivan Petrovic, Jonathan Kelly (2022). Convex Iteration for Distance-Geometric Inverse Kinematics. RA-L.

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Kevin J. Doherty, David M. Rosen, John J. Leonard (2022). Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM. ICRA.

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Yulun Tian, Kasra Khosoussi, David M. Rosen, Jonathan P. How (2021). Distributed Certifiably Correct Pose-Graph Optimization. T-RO.

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David M. Rosen, Kevin J. Doherty, Antonio Teran Espinoza, and John J. Leonard (2021). Advances in Inference and Representation for Simultaneous Localization and Mapping. Annual Review of Control, Robotics, and Autonomous Systems.

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Frank Dellaert*, David M. Rosen*, Jing Wu, Robert Mahony, Luca Carlone (2020). Shonan Rotation Averaging: Global Optimality by Surfing $SO(p)^n$. ECCV.

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Valentin Peretroukhin, Matthew Giamou, David M. Rosen, W. Nicholas Greene, Nicholas Roy, Jonathan Kelly (2020). A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty. RSS.

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David M. Rosen (2020). Scalable Low-Rank Semidefinite Programming for Certifiably Correct Machine Perception. WAFR.

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David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard (2019). SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. IJRR.

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David M. Rosen, Luca Carlone (2017). Computational Enhancements for Certifiably Correct SLAM. IROS workshops.

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David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard (2017). SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. MIT CSAIL Technical Report.

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David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard (2016). A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. WAFR.

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David M. Rosen, Julian Mason, John J. Leonard (2016). Towards Lifelong Feature-Based Mapping in Semi-Static Environments. ICRA.

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Luca Carlone, David M. Rosen, Giuseppe Calafiore, John J. Leonard, Frank Dellaert (2015). Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions. IROS.

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Roberto Tron, David M. Rosen, Luca Carlone (2015). On the Inclusion of Determinant Constraints in Lagrangian Duality for 3D SLAM. RSS workshops.

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David M. Rosen, Charles DuHadway, John J. Leonard (2015). A Convex Relaxation for Approximate Global Optimization in Simultaneous Localization and Mapping. ICRA.

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David M. Rosen, Michael Kaess, John J. Leonard (2014). RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. T-RO.

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David M. Rosen, Michael Kaess, John J. Leonard (2013). Robust Incremental Online Inference over Sparse Factor Graphs: Beyond the Gaussian Case. ICRA.

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David M. Rosen, Michael Kaess, John J. Leonard (2012). An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. ICRA.

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