Preprints

Multi-Irreducible Spectral Synchronization for Robust Rotation Averaging
Owen Howell, Haoen Huang, David M. Rosen
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OASIS: Optimal Arrangements for Sensing in SLAM
Pushyami Kaveti, Matthew Giamou, Hanumant Singh, David M. Rosen
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Certifiably Correct Range-Aided SLAM
Alan Papalia, Andrew Fishberg, Brendan W. O'Neill, Jonathan P. How, David M. Rosen, John J. Leonard
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Journal articles

Accelerating Certifiable Estimation with Preconditioned Eigensolvers
David M. Rosen
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Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows
Qiangqiang Huang, Can Pu, Kasra Khousoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard
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Convex Iteration for Distance-Geometric Inverse Kinematics
Matthew Giamou, Filip Maric, David M. Rosen, Valentin Peretroukhin, Nicholas Roy, Ivan Petrovic, Jonathan Kelly
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Distributed Certifiably Correct Pose-Graph Optimization
Yulun Tian, Kasra Khosoussi, David M. Rosen, Jonathan P. How
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Advances in Inference and Representation for Simultaneous Localization and Mapping
David M. Rosen, Kevin J. Doherty, Antonio Teran Espinoza, and John J. Leonard
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SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group
David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard
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RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
David M. Rosen, Michael Kaess, John J. Leonard
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Conference papers

SCORE: A Second-Order Conic Initialization for Range-Aided SLAM
Alan Papalia, Joseph Morales, Kevin J. Doherty, David M. Rosen, John J. Leonard
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Spectral Measurement Sparsification for Pose-Graph SLAM
Kevin J. Doherty, David M. Rosen, John J. Leonard
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Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation
Yulun Tian, Amrit Singh Bedi, Alec Koppel, Miguel Calvo-Fullana, David M. Rosen, Jonathan P. How
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Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM
Kevin J. Doherty, David M. Rosen, John J. Leonard
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Shonan Rotation Averaging: Global Optimality by Surfing $SO(p)^n$
Frank Dellaert*, David M. Rosen*, Jing Wu, Robert Mahony, Luca Carlone
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A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty
Valentin Peretroukhin, Matthew Giamou, David M. Rosen, W. Nicholas Greene, Nicholas Roy, Jonathan Kelly
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Scalable Low-Rank Semidefinite Programming for Certifiably Correct Machine Perception
David M. Rosen
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A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group
David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard
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Towards Lifelong Feature-Based Mapping in Semi-Static Environments
David M. Rosen, Julian Mason, John J. Leonard
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Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions
Luca Carlone, David M. Rosen, Giuseppe Calafiore, John J. Leonard, Frank Dellaert
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A Convex Relaxation for Approximate Global Optimization in Simultaneous Localization and Mapping
David M. Rosen, Charles DuHadway, John J. Leonard
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Robust Incremental Online Inference over Sparse Factor Graphs: Beyond the Gaussian Case
David M. Rosen, Michael Kaess, John J. Leonard
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An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
David M. Rosen, Michael Kaess, John J. Leonard
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Workshop papers

Computational Enhancements for Certifiably Correct SLAM
David M. Rosen, Luca Carlone
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On the Inclusion of Determinant Constraints in Lagrangian Duality for 3D SLAM
Roberto Tron, David M. Rosen, Luca Carlone
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Technical reports

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