Luca Carlone

263 papers A* 37A 16B 1C 7Misc 1Journal 174Unranked 25
YearRankTypeTitle / Venue / Authors
2026 J jnl
Pandora: Articulated 3D Scene Graphs from Egocentric Vision.
CoRR
Alan Yu, Yun Chang, Christopher Xie, Luca Carlone
2026 J jnl
Picasso: Holistic Scene Reconstruction with Physics-Constrained Sampling.
CoRR
Xihang Yu, Rajat Talak, Lorenzo Shaikewitz, Luca Carlone
2026 J jnl
Towards Zero-Shot Point Cloud Registration Across Diverse Scales, Scenes, and Sensor Setups.
CoRR
Hyungtae Lim, Minkyun Seo, Luca Carlone, Jaesik Park
2026 J jnl
VGGT-SLAM 2.0: Real-time Dense Feed-forward Scene Reconstruction.
CoRR
Dominic Maggio, Luca Carlone
2025 J jnl
A Roadmap for Climate-Relevant Robotics Research.
CoRR
Alan Papalia, Charles Dawson, Laurentiu L. Anton, Norhan Bayomi, Bianca Champenois, Jung-Hoon Cho, Levi Cai, Joseph DelPreto, Kristen Edwards, Bilha-Catherine Githinji, Cameron Hickert, Vindula Jayawardana, Matthew Kramer, Shreyaa Raghavan, David Russell, Shide Salimi, Jingnan Shi, Soumya Sudhakar, Yanwei Wang, Shouyi Wang, Luca Carlone, Vijay Kumar, Daniela Rus, John E. Fernandez, Cathy Wu, George Kantor, Derek Young, Hanumant Singh
2025 A* conf
ASHiTA: Automatic Scene-grounded HIerarchical Task Analysis.
CVPR
Yun Chang, Leonor Fermoselle, Duy Ta, Bernadette Bucher, Luca Carlone, Jiuguang Wang
2025 J jnl
ASHiTA: Automatic Scene-grounded HIerarchical Task Analysis.
CoRR
Yun Chang, Leonor Fermoselle, Duy Ta, Bernadette Bucher, Luca Carlone, Jiuguang Wang
2025 — conf
Advancing AI Challenges for the United States Department of the Air Force
HPEC
Christian Prothmann, Vijay Gadepally, Jeremy Kepner, Koley Borchard, Luca Carlone, Zachary Folcik, J. Daniel Griffith, Michael Houle, Jonathan P. How, Nathan Hughes, Ifueko Igbinedion, Hayden Jananthan, Tejas Jayashankar, Michael Jones, Sertac Karaman, Binoy G. Kurien, Alejandro Lancho, Giovanni Lavezzi, Gary C. F. Lee, Charles E. Leiserson, Richard Linares, Lindsey McEvoy, Peter Michaleas, Chasen Milner, Alex Pentland, Yury Polyanskiy, Jovan Popovich, Jeffrey Price, Tim W. Reid, Stephanie Riley, Siddharth Samsi, Peter Saunders, Olga Simek, Mark S. Veillette, Amir Weiss, Gregory W. Wornell, Daniela Rus, Scott T. Ruppel
2025 J jnl
Advancing AI Challenges for the United States Department of the Air Force.
CoRR
Christian Prothmann, Vijay Gadepally, Jeremy Kepner, Koley Borchard, Luca Carlone, Zachary Folcik, J. Daniel Griffith, Michael Houle, Jonathan P. How, Nathan Hughes, Ifueko Igbinedion, Hayden Jananthan, Tejas Jayashankar, Michael Jones, Sertac Karaman, Binoy G. Kurien, Alejandro Lancho, Giovanni Lavezzi, Gary C. F. Lee, Charles E. Leiserson, Richard Linares, Lindsey McEvoy, Peter Michaleas, Chasen Milner, Alex Pentland, Yury Polyanskiy, Jovan Popovich, Jeffrey Price, Tim W. Reid, Stephanie Riley, Siddharth Samsi, Peter Saunders, Olga Simek, Mark S. Veillette, Amir Weiss, Gregory W. Wornell, Daniela Rus, Scott T. Ruppel
2025 J jnl
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments.
CoRR
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Sung-Kyun Kim, Muhammad Fadhil Ginting, Xianmei Lei, Jeffrey A. Edlund, Seyed Abolfazl Fakoorian, Amanda Bouman, Fernando Chavez, Taeyeon Kim, Gustavo J. Correa, Maira Saboia, Angel Santamaria-Navarro, Brett T. Lopez, Boseong Kim, Chanyoung Jung, Mamoru Sobue, Oriana Peltzer, Joshua Ott, Robert Trybula, Thomas Touma, Marcel Kaufmann, Tiago Stegun Vaquero, Torkom Pailevanian, Matteo Palieri, Yun Chang, Andrzej Reinke, Matthew Anderson, Frederik E. T. Schöller, Patrick Spieler, Lillian Clark, Avak Archanian, Kenny Chen, Hovhannes Melikyan, Anushri Dixit, Harrison Delecki, Daniel Pastor, Barry Ridge, Nicolas Marchal, Jose Uribe, Sharmita Dey, Kamak Ebadi, Kyle Coble, Alexander Nikitas Dimopoulos, Vivek Thangavelu, Vivek Shankar Varadharajan, Nicholas Palomo, Antoni Rosinol, Arghya Chatterjee, Christoforos Kanellakis, Björn Lindqvist, Micah Corah, Kyle Strickland, Ryan Stonebraker, Michael Milano, Christopher E. Denniston, Sami Sahnoune, Thomas Claudet, Seungwook Lee, Gautam Salhotra, Edward Terry, Rithvik Musuku, Robin Schmid, Tony Tran, Ara Kourchians, Justin Schachter, Héctor Azpúrua, Levi Resende, Arash Kalantari, Jeremy Nash, Josh Lee, Christopher Patterson, Jennifer G. Blank, Kartik Patath, Yuki Kubo, Ryan Alimo, Yasin Almalioglu, Aaron Curtis, Jacqueline H. Sly, Tesla Wells, Nhut T. Ho, Mykel J. Kochenderfer, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2025 J jnl
BUFFER-X: Towards Zero-Shot Point Cloud Registration in Diverse Scenes.
CoRR
Minkyun Seo, Hyungtae Lim, Kanghee Lee, Luca Carlone, Jaesik Park
2025 J jnl
Bayesian Fields: Task-driven Open-Set Semantic Gaussian Splatting.
CoRR
Dominic Maggio, Luca Carlone
2025 J jnl
Box Pose and Shape Estimation and Domain Adaptation for Large-Scale Warehouse Automation.
CoRR
Xihang Yu, Rajat Talak, Jingnan Shi, Ulrich Viereck, Igor Gilitschenski, Luca Carlone
2025 A* conf
CHAMP: Conformalized 3D Human Multi-Hypothesis Pose Estimators.
ICLR
Harry Zhang, Luca Carlone
2025 A* conf
CRISP: Object Pose and Shape Estimation with Test-Time Adaptation.
CVPR
Jingnan Shi, Rajat Talak, Harry Zhang, David Jin, Luca Carlone
2025 A* conf
CUPS: Improving Human Pose-Shape Estimators with Conformalized Deep Uncertainty.
ICML
Harry Zhang, Luca Carlone
2025 J jnl
Category-Level Object Shape and Pose Estimation in Less Than a Millisecond.
CoRR
Lorenzo Shaikewitz, Tim Nguyen, Luca Carlone
2025 J jnl
Describe Anything Anywhere At Any Moment.
CoRR
Nicolas Gorlo, Lukas Schmid, Luca Carlone
2025 J jnl
Gaussian Mapping for Evolving Scenes.
CoRR
Vladimir Yugay, Thies Kersten, Luca Carlone, Theo Gevers, Martin R. Oswald, Lukas Schmid
2025 J jnl
H2OFlow: Grounding Human-Object Affordances with 3D Generative Models and Dense Diffused Flows.
CoRR
Harry Zhang, Luca Carlone
2025 A* conf
KISS-Matcher: Fast and Robust Point Cloud Registration Revisited.
ICRA
Hyungtae Lim, Daebeom Kim, Gunhee Shin, Jingnan Shi, Ignacio Vizzo, Hyun Myung, Jaesik Park, Luca Carlone
2025 J jnl
Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs.
CoRR
Jared Strader, Aaron Ray, Jacob Arkin, Mason B. Peterson, Yun Chang, Nathan Hughes, Christopher Bradley, Yi Xuan Jia, Carlos Nieto-Granda, Rajat Talak, Chuchu Fan, Luca Carlone, Jonathan P. How, Nicholas Roy
2025 J jnl
Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise.
CoRR
Sangli Teng, Harry Zhang, David Jin, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari, Luca Carlone
2025 J jnl
Non-submodular Visual Attention for Robot Navigation.
CoRR
Reza Vafaee, Kian Behzad, Milad Siami, Luca Carlone, Ali Jadbabaie
2025 J jnl
Nonsubmodular Visual Attention for Robot Navigation.
IEEE Trans. Robotics
Reza Vafaee, Kian Behzad, Milad Siami, Luca Carlone, Ali Jadbabaie
2025 J jnl
Outlier-Robust Training of Machine Learning Models.
CoRR
Rajat Talak, Charis Georgiou, Jingnan Shi, Luca Carlone
2025 J jnl
Structured Interfaces for Automated Reasoning with 3D Scene Graphs.
CoRR
Aaron Ray, Jacob Arkin, Harel Biggie, Chuchu Fan, Luca Carlone, Nicholas Roy
2025 J jnl
Uncertainty Quantification for Visual Object Pose Estimation.
CoRR
Lorenzo Shaikewitz, Charis Georgiou, Luca Carlone
2025 J jnl
VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold.
CoRR
Dominic Maggio, Hyungtae Lim, Luca Carlone
2024 J jnl
A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking.
CoRR
Lorenzo Shaikewitz, Samuel Ubellacker, Luca Carlone
2024 J jnl
A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking.
IEEE Robotics Autom. Lett.
Lorenzo Shaikewitz, Samuel Ubellacker, Luca Carlone
2024 J jnl
CHAMP: Conformalized 3D Human Multi-Hypothesis Pose Estimators.
CoRR
Harry Zhang, Luca Carlone
2024 J jnl
CRISP: Object Pose and Shape Estimation with Test-Time Adaptation.
CoRR
Jingnan Shi, Rajat Talak, Harry Zhang, David Jin, Luca Carlone
2024 J jnl
CUPS: Improving Human Pose-Shape Estimators with Conformalized Deep Uncertainty.
CoRR
Harry Zhang, Luca Carlone
2024 J jnl
Clio: Real-Time Task-Driven Open-Set 3D Scene Graphs.
IEEE Robotics Autom. Lett.
Dominic Maggio, Yun Chang, Nathan Hughes, Matthew Trang, J. Daniel Griffith, Carlyn Dougherty, Eric Cristofalo, Lukas Schmid, Luca Carlone
2024 J jnl
Clio: Real-time Task-Driven Open-Set 3D Scene Graphs.
CoRR
Dominic Maggio, Yun Chang, Nathan Hughes, Matthew Trang, J. Daniel Griffith, Carlyn Dougherty, Eric Cristofalo, Lukas Schmid, Luca Carlone
2024 J jnl
Computer and Robot Vision: Past, Present, and Future [TC Spotlight].
IEEE Robotics Autom. Mag.
Letizia Gionfrida, Chen Wang, Lu Gan, Margarita Chli, Luca Carlone
2024 J jnl
Foundations of spatial perception for robotics: Hierarchical representations and real-time systems.
Int. J. Robotics Res.
Nathan Hughes, Yun Chang, Siyi Hu, Rajat Talak, Rumaisa Abdulhai, Jared Strader, Luca Carlone
2024 J jnl
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise.
CoRR
Sangli Teng, Harry Zhang, David Jin, Ashkan Jasour, Maani Ghaffari, Luca Carlone
2024 J jnl
Indoor and Outdoor 3D Scene Graph Generation Via Language-Enabled Spatial Ontologies.
IEEE Robotics Autom. Lett.
Jared Strader, Nathan Hughes, William Chen, Alberto Speranzon, Luca Carlone
2024 J jnl
Integrating Vision Systems and STPA for Robust Landing and Take-Off in VTOL Aircraft.
CoRR
Sandeep Banik, Jinrae Kim, Naira Hovakimyan, Luca Carlone, John P. Thomas, Nancy G. Leveson
2024 J jnl
KISS-Matcher: Fast and Robust Point Cloud Registration Revisited.
CoRR
Hyungtae Lim, Daebeom Kim, Gunhee Shin, Jingnan Shi, Ignacio Vizzo, Hyun Myung, Jaesik Park, Luca Carlone
2024 — conf
Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments.
Robotics: Science and Systems
Lukas Schmid, Marcus Abate, Yun Chang, Luca Carlone
2024 J jnl
Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments.
CoRR
Lukas Schmid, Marcus Abate, Yun Chang, Luca Carlone
2024 J jnl
Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World.
CoRR
Marcus Abate, Yun Chang, Nathan Hughes, Luca Carlone
2024 J jnl
Long-Term Human Trajectory Prediction Using 3D Dynamic Scene Graphs.
IEEE Robotics Autom. Lett.
Nicolas Gorlo, Lukas Schmid, Luca Carlone
2024 J jnl
Long-Term Human Trajectory Prediction using 3D Dynamic Scene Graphs.
CoRR
Nicolas Gorlo, Lukas Schmid, Luca Carlone
2024 J jnl
Mixed Diffusion for 3D Indoor Scene Synthesis.
CoRR
Siyi Hu, Diego Martín Arroyo, Stephanie Debats, Fabian Manhardt, Luca Carlone, Federico Tombari
2024 A* conf
Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-Based Fault Detection and Identification (Abstract Reprint).
AAAI
Pasquale Antonante, Heath Nilsen, Luca Carlone
2024 A* conf
Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds.
ICRA
David Jin, Sushrut Karmalkar, Harry Zhang, Luca Carlone
2024 J jnl
Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds.
CoRR
David Jin, Sushrut Karmalkar, Harry Zhang, Luca Carlone
2024 J jnl
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge.
IEEE Trans. Robotics
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-Akbar Agha-Mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
2024 J jnl
Task and Motion Planning in Hierarchical 3D Scene Graphs.
CoRR
Aaron Ray, Christopher Bradley, Luca Carlone, Nicholas Roy
2024 A conf
Test-Time Certifiable Self-Supervision to Bridge the Sim2Real Gap in Event-Based Satellite Pose Estimation.
IROS
Abdul Mohsi Jawaid, Rajat Talak, Yasir Latif, Luca Carlone, Tat-Jun Chin
2024 J jnl
Test-Time Certifiable Self-Supervision to Bridge the Sim2Real Gap in Event-Based Satellite Pose Estimation.
CoRR
Abdul Mohsi Jawaid, Rajat Talak, Yasir Latif, Luca Carlone, Tat-Jun Chin
2024 J jnl
VERF: Runtime Monitoring of Pose Estimation With Neural Radiance Fields.
IEEE Robotics Autom. Lett.
Dominic Maggio, Courtney Mario, Luca Carlone
2023 — conf
A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training.
Robotics: Science and Systems
Jingnan Shi, Rajat Talak, Dominic Maggio, Luca Carlone
2023 J jnl
A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training.
CoRR
Jingnan Shi, Rajat Talak, Dominic Maggio, Luca Carlone
2023 J jnl
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers.
IEEE Trans. Robotics
Julio A. Placed, Jared Strader, Henry Carrillo, Nikolay Atanasov, Vadim Indelman, Luca Carlone, José A. Castellanos
2023 J jnl
Aggressive Aerial Grasping using a Soft Drone with Onboard Perception.
CoRR
Samuel Ubellacker, Aaron Ray, James Bern, Jared Strader, Luca Carlone
2023 J jnl
An inexact projected gradient method with rounding and lifting by nonlinear programming for solving rank-one semidefinite relaxation of polynomial optimization.
Math. Program.
Heng Yang, Ling Liang, Luca Carlone, Kim-Chuan Toh
2023 J jnl
Certifiable Object Pose Estimation: Foundations, Learning Models, and Self-Training.
IEEE Trans. Robotics
Rajat Talak, Lisa R. Peng, Luca Carlone
2023 J jnl
Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization.
IEEE Trans. Pattern Anal. Mach. Intell.
Heng Yang, Luca Carlone
2023 J jnl
D-Lite: Navigation-Oriented Compression of 3D Scene Graphs for Multi-Robot Collaboration.
IEEE Robotics Autom. Lett.
Yun Chang, Luca Ballotta, Luca Carlone
2023 A* conf
Data-Association-Free Landmark-based SLAM.
ICRA
Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi
2023 J jnl
Data-Association-Free Landmark-based SLAM.
CoRR
Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi
2023 J jnl
Estimation Contracts for Outlier-Robust Geometric Perception.
Found. Trends Robotics
Luca Carlone
2023 J jnl
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems.
CoRR
Nathan Hughes, Yun Chang, Siyi Hu, Rajat Talak, Rumaisa Abdulhai, Jared Strader, Luca Carlone
2023 A conf
Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams.
IROS
Yun Chang, Nathan Hughes, Aaron Ray, Luca Carlone
2023 J jnl
Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams.
CoRR
Yun Chang, Nathan Hughes, Aaron Ray, Luca Carlone
2023 J jnl
Indoor and Outdoor 3D Scene Graph Generation via Language-Enabled Spatial Ontologies.
CoRR
Jared Strader, Nathan Hughes, William Chen, Alberto Speranzon, Luca Carlone
2023 — conf
Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World.
ISER
Marcus Abate, Yun Chang, Nathan Hughes, Luca Carlone
2023 A* conf
Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields.
ICRA
Dominic Maggio, Marcus Abate, Jingnan Shi, Courtney Mario, Luca Carlone
2023 J jnl
Monitoring of perception systems: Deterministic, probabilistic, and learning-based fault detection and identification.
Artif. Intell.
Pasquale Antonante, Heath Nilsen, Luca Carlone
2023 J jnl
Multi-Camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking.
CoRR
Marcus Abate, Ariel Schwartz, Xue Iuan Wong, Wangdong Luo, Rotem Littman, Marc Klinger, Lars Kuhnert, Douglas Blue, Luca Carlone
2023 — conf
Multi-camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking.
ISER
Marcus Abate, Ariel Schwartz, Xue Iuan Wong, Wangdong Luo, Rotem Littman, Marc Klinger, Lars Kuhnert, Douglas Blue, Luca Carlone
2023 A conf
NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields.
IROS
Antoni Rosinol, John J. Leonard, Luca Carlone
2023 J jnl
Optimal and Robust Category-Level Perception: Object Pose and Shape Estimation From 2-D and 3-D Semantic Keypoints.
IEEE Trans. Robotics
Jingnan Shi, Heng Yang, Luca Carlone
2023 A conf
Probabilistic Volumetric Fusion for Dense Monocular SLAM.
WACV
Antoni Rosinol, John J. Leonard, Luca Carlone
2023 J jnl
PyPose v0.6: The Imperative Programming Interface for Robotics.
CoRR
Zitong Zhan, Xiangfu Li, Qihang Li, Haonan He, Abhinav Pandey, Haitao Xiao, Yangmengfei Xu, Xiangyu Chen, Kuan Xu, Kun Cao, Zhipeng Zhao, Zihan Wang, Huan Xu, Zihang Fang, Yutian Chen, Wentao Wang, Xu Fang, Yi Du, Tianhao Wu, Xiao Lin, Yuheng Qiu, Fan Yang, Jingnan Shi, Shaoshu Su, Yiren Lu, Taimeng Fu, Karthik Dantu, Jiajun Wu, Lihua Xie, Marco Hutter, Luca Carlone, Sebastian A. Scherer, Daning Huang, Yaoyu Hu, Junyi Geng, Chen Wang
2023 A* conf
PyPose: A Library for Robot Learning with Physics-based Optimization.
CVPR
Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady G. Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Kun Cao, Yi Du, Han Wang, Huai Yu, Shanzhao Wang, Siyu Chen, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Lihua Xie, Luca Carlone, Marco Hutter, Sebastian A. Scherer
2023 A conf
Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned.
IROS
Yulun Tian, Yun Chang, Long Quang, Arthur Schang, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone
2023 J jnl
Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned.
CoRR
Yulun Tian, Yun Chang, Long Quang, Arthur Schang, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone
2023 — conf
Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles.
Robotics: Science and Systems
Pasquale Antonante, Sushant Veer, Karen Leung, Xinshuo Weng, Luca Carlone, Marco Pavone
2023 J jnl
Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles.
CoRR
Pasquale Antonante, Sushant Veer, Karen Leung, Xinshuo Weng, Luca Carlone, Marco Pavone
2023 J jnl
VERF: Runtime Monitoring of Pose Estimation with Neural Radiance Fields.
CoRR
Dominic Maggio, Courtney Mario, Luca Carlone
2023 J jnl
Vision-Based Terrain Relative Navigation on High-Altitude Balloon and Sub-Orbital Rocket.
CoRR
Dominic Maggio, Courtney Mario, Brett Streetman, Ted J. Steiner, Luca Carlone
2022 J jnl
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers.
CoRR
Julio A. Placed, Jared Strader, Henry Carrillo, Nikolay Atanasov, Vadim Indelman, Luca Carlone, José A. Castellanos
2022 J jnl
Correct and Certify: A New Approach to Self-Supervised 3D-Object Perception.
CoRR
Rajat Talak, Lisa R. Peng, Luca Carlone
2022 J jnl
D-Lite: Navigation-Oriented Compression of 3D Scene Graphs under Communication Constraints.
CoRR
Yun Chang, Luca Ballotta, Luca Carlone
2022 J jnl
Estimation Contracts for Outlier-Robust Geometric Perception.
CoRR
Luca Carlone
2022 J jnl
Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding.
CoRR
William Chen, Siyi Hu, Rajat Talak, Luca Carlone
2022 A* conf
Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks.
ICRA
Zachary Ravichandran, Lisa R. Peng, Nathan Hughes, J. Daniel Griffith, Luca Carlone
2022 J jnl
Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization.
CoRR
Nathan Hughes, Yun Chang, Luca Carlone
2022 — conf
Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization.
Robotics: Science and Systems
Nathan Hughes, Yun Chang, Luca Carlone
2022 J jnl
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems.
IEEE Trans. Robotics
Yulun Tian, Yun Chang, Fernando Herrera Arias, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone
2022 J jnl
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments.
CoRR
Yun Chang, Kamak Ebadi, Christopher E. Denniston, Muhammad Fadhil Ginting, Antoni Rosinol, Andrzej Reinke, Matteo Palieri, Jingnan Shi, Arghya Chatterjee, Benjamin Morrell, Ali-Akbar Agha-Mohammadi, Luca Carlone
2022 J jnl
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments.
IEEE Robotics Autom. Lett.
Yun Chang, Kamak Ebadi, Christopher E. Denniston, Muhammad Fadhil Ginting, Antoni Rosinol, Andrzej Reinke, Matteo Palieri, Jingnan Shi, Arghya Chatterjee, Benjamin Morrell, Ali-Akbar Agha-Mohammadi, Luca Carlone
2022 J jnl
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping.
IEEE Robotics Autom. Lett.
Andrzej Reinke, Matteo Palieri, Benjamin Morrell, Yun Chang, Kamak Ebadi, Luca Carlone, Ali-Akbar Agha-Mohammadi
2022 J jnl
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping.
CoRR
Andrzej Reinke, Matteo Palieri, Benjamin Morrell, Yun Chang, Kamak Ebadi, Luca Carlone, Ali-Akbar Agha-Mohammadi
2022 J jnl
Leveraging Large Language Models for Robot 3D Scene Understanding.
CoRR
William Chen, Siyi Hu, Rajat Talak, Luca Carlone
2022 J jnl
Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields.
CoRR
Dominic Maggio, Marcus Abate, Jingnan Shi, Courtney Mario, Luca Carlone
2022 J jnl
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM.
CoRR
Christopher E. Denniston, Yun Chang, Andrzej Reinke, Kamak Ebadi, Gaurav S. Sukhatme, Luca Carlone, Benjamin Morrell, Ali-Akbar Agha-Mohammadi
2022 J jnl
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM.
IEEE Robotics Autom. Lett.
Christopher E. Denniston, Yun Chang, Andrzej Reinke, Kamak Ebadi, Gaurav S. Sukhatme, Luca Carlone, Benjamin Morrell, Ali-Akbar Agha-Mohammadi
2022 J jnl
Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-based Fault Detection and Identification.
CoRR
Pasquale Antonante, Heath Nilsen, Luca Carlone
2022 J jnl
NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge.
Field Robotics
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hovhannes Melikyan, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2022 J jnl
NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields.
CoRR
Antoni Rosinol, John J. Leonard, Luca Carlone
2022 J jnl
Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints.
CoRR
Jingnan Shi, Heng Yang, Luca Carlone
2022 J jnl
Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications.
IEEE Trans. Robotics
Pasquale Antonante, Vasileios Tzoumas, Heng Yang, Luca Carlone
2022 J jnl
Present and Future of SLAM in Extreme Underground Environments.
CoRR
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-Akbar Agha-Mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
2022 J jnl
Probabilistic Volumetric Fusion for Dense Monocular SLAM.
CoRR
Antoni Rosinol, John J. Leonard, Luca Carlone
2022 J jnl
PyPose: A Library for Robot Learning with Physics-based Optimization.
CoRR
Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady G. Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Han Wang, Huai Yu, Shanzhao Wang, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Luca Carlone, Marco Hutter, Sebastian A. Scherer
2022 J jnl
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT.
CoRR
Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas, Golnaz Habibi, Markus Ryll, Rajat Talak, Jingnan Shi, Pasquale Antonante
2021 J jnl
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems.
CoRR
Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar
2021 J jnl
Certifiable Outlier-Robust Geometric Perception: Exact Semidefinite Relaxations and Scalable Global Optimization.
CoRR
Heng Yang, Luca Carlone
2021 B conf
Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems.
WiOpt
Vishrant Tripathi, Luca Ballotta, Luca Carlone, Eytan H. Modiano
2021 J jnl
Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems.
CoRR
Vishrant Tripathi, Luca Ballotta, Luca Carlone, Eytan H. Modiano
2021 J jnl
Corrections to "LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time".
IEEE Robotics Autom. Lett.
Matteo Palieri, Benjamin Morrell, Abhishek Thakur, Kamak Ebadi, Jeremy Nash, Arghya Chatterjee, Christoforos Kanellakis, Luca Carlone, Cataldo Guaragnella, Ali-Akbar Agha-Mohammadi
2021 A conf
Dynamic Grasping with a "Soft" Drone: From Theory to Practice.
IROS
Joshua Fishman, Samuel Ubellacker, Nathan Hughes, Luca Carlone
2021 J jnl
Dynamic Grasping with a "Soft" Drone: From Theory to Practice.
CoRR
Joshua Fishman, Samuel Ubellacker, Nathan Hughes, Luca Carlone
2021 J jnl
Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks.
CoRR
Zachary Ravichandran, Lisa R. Peng, Nathan Hughes, J. Daniel Griffith, Luca Carlone
2021 J jnl
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems.
CoRR
Yulun Tian, Yun Chang, Fernando Herrera Arias, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone
2021 A* conf
Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping.
ICRA
Yun Chang, Yulun Tian, Jonathan P. How, Luca Carlone
2021 J jnl
Kimera: From SLAM to spatial perception with 3D dynamic scene graphs.
Int. J. Robotics Res.
Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone
2021 J jnl
Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs.
CoRR
Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone
2021 J jnl
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments.
CoRR
Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai, Angel Santamaria-Navarro, Jonathan P. How, Luca Carlone, Ali-Akbar Agha-Mohammadi
2021 J jnl
LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time.
IEEE Robotics Autom. Lett.
Matteo Palieri, Benjamin Morrell, Abhishek Thakur, Kamak Ebadi, Jeremy Nash, Arghya Chatterjee, Christoforos Kanellakis, Luca Carlone, Cataldo Guaragnella, Ali-Akbar Agha-Mohammadi
2021 J jnl
LQG Control and Sensing Co-Design.
IEEE Trans. Autom. Control.
Vasileios Tzoumas, Luca Carlone, George J. Pappas, Ali Jadbabaie
2021 A conf
Monitoring and Diagnosability of Perception Systems.
IROS
Pasquale Antonante, David I. Spivak, Luca Carlone
2021 J jnl
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge.
CoRR
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey A. Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett T. Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick
2021 A* conf
Neural Trees for Learning on Graphs.
NeurIPS
Rajat Talak, Siyi Hu, Lisa R. Peng, Luca Carlone
2021 J jnl
Neural Trees for Learning on Graphs.
CoRR
Rajat Talak, Siyi Hu, Lisa R. Peng, Luca Carlone
2021 — conf
Optimal Pose and Shape Estimation for Category-level 3D Object Perception.
Robotics: Science and Systems
Jingnan Shi, Heng Yang, Luca Carlone
2021 J jnl
Optimal Pose and Shape Estimation for Category-level 3D Object Perception.
CoRR
Jingnan Shi, Heng Yang, Luca Carlone
2021 A* conf
ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants.
ICRA
Jingnan Shi, Heng Yang, Luca Carlone
2021 J jnl
STRIDE along Spectrahedral Vertices for Solving Large-Scale Rank-One Semidefinite Relaxations.
CoRR
Heng Yang, Ling Liang, Kim-Chuan Toh, Luca Carlone
2021 A* conf
Self-Supervised Geometric Perception.
CVPR
Heng Yang, Wei Dong, Luca Carlone, Vladlen Koltun
2021 J jnl
Self-supervised Geometric Perception.
CoRR
Heng Yang, Wei Dong, Luca Carlone, Vladlen Koltun
2021 A conf
Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization.
IROS
Antoni Rosinol, Luca Carlone
2021 J jnl
Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization.
CoRR
Antoni Rosinol, Luca Carlone
2021 J jnl
TEASER: Fast and Certifiable Point Cloud Registration.
IEEE Trans. Robotics
Heng Yang, Jingnan Shi, Luca Carlone
2020 — conf
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans.
Robotics: Science and Systems
Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone
2020 J jnl
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans.
CoRR
Antoni Rosinol, Arjun Gupta, Marcus Abate, Jingnan Shi, Luca Carlone
2020 J jnl
Computation-Communication Trade-Offs and Sensor Selection in Real-Time Estimation for Processing Networks.
IEEE Trans. Netw. Sci. Eng.
Luca Ballotta, Luca Schenato, Luca Carlone
2020 J jnl
Control and Trajectory Optimization for Soft Aerial Manipulation.
CoRR
Joshua Fishman, Luca Carlone
2020 J jnl
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams.
IEEE Robotics Autom. Lett.
Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang, Luca Carlone, Giovanni Beltrame
2020 J jnl
From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency.
CoRR
Luca Ballotta, Luca Schenato, Luca Carlone
2020 J jnl
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection.
IEEE Robotics Autom. Lett.
Heng Yang, Pasquale Antonante, Vasileios Tzoumas, Luca Carlone
2020 A* conf
In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction From 2D Landmarks.
CVPR
Heng Yang, Luca Carlone
2020 J jnl
Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping.
CoRR
Yun Chang, Yulun Tian, Jonathan P. How, Luca Carlone
2020 A* conf
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping.
ICRA
Antoni Rosinol, Marcus Abate, Yun Chang, Luca Carlone
2020 A* conf
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments.
ICRA
Kamak Ebadi, Yun Chang, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden, Abhishek Thakur, Nobuhiro Funabiki, Benjamin Morrell, Sally L. Wood, Luca Carlone, Ali-Akbar Agha-Mohammadi
2020 J jnl
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments.
CoRR
Kamak Ebadi, Yun Chang, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden, Abhishek Thakur, Nobuhiro Funabiki, Benjamin Morrell, Sally L. Wood, Luca Carlone, Ali-Akbar Agha-Mohammadi
2020 — conf
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments.
ISER
Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai, Angel Santamaria-Navarro, Jonathan P. How, Luca Carlone, Ali-Akbar Agha-Mohammadi
2020 J jnl
LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time.
CoRR
Matteo Palieri, Benjamin Morrell, Abhishek Thakur, Kamak Ebadi, Jeremy Nash, Arghya Chatterjee, Christoforos Kanellakis, Luca Carlone, Cataldo Guaragnella, Ali-Akbar Agha-Mohammadi
2020 J jnl
Monitoring and Diagnosability of Perception Systems.
CoRR
Pasquale Antonante, David I. Spivak, Luca Carlone
2020 J jnl
Monitoring and Diagnosability of Perception Systems.
CoRR
Pasquale Antonante, David I. Spivak, Luca Carlone
2020 A* conf
One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers.
NeurIPS
Heng Yang, Luca Carlone
2020 J jnl
One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers.
CoRR
Heng Yang, Luca Carlone
2020 — conf
Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation.
ITSC
Arjun Gupta, Luca Carlone
2020 J jnl
Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation.
CoRR
Arjun Gupta, Luca Carlone
2020 J jnl
Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications.
CoRR
Pasquale Antonante, Vasileios Tzoumas, Heng Yang, Luca Carlone
2020 A* conf
Primal-Dual Mesh Convolutional Neural Networks.
NeurIPS
Francesco Milano, Antonio Loquercio, Antoni Rosinol, Davide Scaramuzza, Luca Carlone
2020 J jnl
Primal-Dual Mesh Convolutional Neural Networks.
CoRR
Francesco Milano, Antonio Loquercio, Antoni Rosinol, Davide Scaramuzza, Luca Carlone
2020 J jnl
ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants.
CoRR
Jingnan Shi, Heng Yang, Luca Carlone
2020 — conf
Shonan Rotation Averaging: Global Optimality by Surfing SO(p)
ECCV (6)
Frank Dellaert, David M. Rosen, Jing Wu, Robert E. Mahony, Luca Carlone
2020 J jnl
Shonan Rotation Averaging: Global Optimality by Surfing SO(p)
CoRR
Frank Dellaert, David M. Rosen, Jing Wu, Robert E. Mahony, Luca Carlone
2020 J jnl
TEASER: Fast and Certifiable Point Cloud Registration.
CoRR
Heng Yang, Jingnan Shi, Luca Carlone
2019 — conf
A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates.
Robotics: Science and Systems
Heng Yang, Luca Carlone
2019 J jnl
A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates.
CoRR
Heng Yang, Luca Carlone
2019 A* conf
A Quaternion-Based Certifiably Optimal Solution to the Wahba Problem With Outliers.
ICCV
Heng Yang, Luca Carlone
2019 J jnl
A Quaternion-based Certifiably Optimal Solution to the Wahba Problem with Outliers.
CoRR
Heng Yang, Luca Carlone
2019 J jnl
Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization.
IEEE Robotics Autom. Lett.
Siyi Hu, Luca Carlone
2019 J jnl
Attention and Anticipation in Fast Visual-Inertial Navigation.
IEEE Trans. Robotics
Luca Carlone, Sertac Karaman
2019 J jnl
DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams.
CoRR
Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang, Luca Carlone, Giovanni Beltrame
2019 J jnl
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection.
CoRR
Heng Yang, Pasquale Antonante, Vasileios Tzoumas, Luca Carlone
2019 J jnl
In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks.
CoRR
Heng Yang, Luca Carlone
2019 A* conf
Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities.
ICRA
Antoni Rosinol, Torsten Sattler, Marc Pollefeys, Luca Carlone
2019 J jnl
Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities.
CoRR
Antoni Rosinol, Torsten Sattler, Marc Pollefeys, Luca Carlone
2019 J jnl
Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping.
CoRR
Antoni Rosinol, Marcus Abate, Yun Chang, Luca Carlone
2019 J jnl
Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models.
IEEE Robotics Autom. Lett.
Pierre-Yves Lajoie, Siyi Hu, Giovanni Beltrame, Luca Carlone
2019 J jnl
Navion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones.
IEEE J. Solid State Circuits
Amr Suleiman, Zhengdong Zhang, Luca Carlone, Sertac Karaman, Vivienne Sze
2019 J jnl
Optimal Computation-Communication Trade-offs in Processing Networks.
CoRR
Luca Ballotta, Luca Schenato, Luca Carlone
2019 A conf
Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees.
IROS
Vasileios Tzoumas, Pasquale Antonante, Luca Carlone
2019 J jnl
Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees.
CoRR
Vasileios Tzoumas, Pasquale Antonante, Luca Carlone
2019 A* conf
Robot Co-design: Beyond the Monotone Case.
ICRA
Luca Carlone, Carlo Pinciroli
2019 J jnl
Robot Co-design: Beyond the Monotone Case.
CoRR
Luca Carlone, Carlo Pinciroli
2019 J jnl
SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group.
Int. J. Robotics Res.
David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard
2019 J jnl
Sparse depth sensing for resource-constrained robots.
Int. J. Robotics Res.
Fangchang Ma, Luca Carlone, Ulas Ayaz, Sertac Karaman
2018 J jnl
Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization.
CoRR
Siyi Hu, Luca Carlone
2018 — ch.
Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations.
Handbook of Dynamic Data Driven Applications Systems
Luca Carlone, Allan Axelrod, Sertac Karaman, Girish Chowdhary
2018 J jnl
Control and Sensing Co-design.
CoRR
Vasileios Tzoumas, Luca Carlone, George J. Pappas, Ali Jadbabaie
2018 J jnl
Convex Relaxations for Pose Graph Optimization With Outliers.
IEEE Robotics Autom. Lett.
Luca Carlone, Giuseppe Carlo Calafiore
2018 J jnl
Convex Relaxations for Pose Graph Optimization with Outliers.
CoRR
Luca Carlone, Giuseppe Carlo Calafiore
2018 — ch.
Data-Driven Prediction of Confidence for EVAR in Time-Varying Datasets.
Handbook of Dynamic Data Driven Applications Systems
Allan Axelrod, Luca Carlone, Girish Chowdhary, Sertac Karaman
2018 J jnl
Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models.
CoRR
Pierre-Yves Lajoie, Siyi Hu, Giovanni Beltrame, Luca Carlone
2018 J jnl
Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones.
CoRR
Amr Suleiman, Zhengdong Zhang, Luca Carlone, Sertac Karaman, Vivienne Sze
2018 — conf
Navion: A Fully Integrated Energy-Efficient Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones.
VLSI Circuits
Amr Suleiman, Zhengdong Zhang, Luca Carlone, Sertac Karaman, Vivienne Sze
2018 C conf
Sensing-Constrained LQG Control.
ACC
Vasileios Tzoumas, Luca Carlone, George J. Pappas, Ali Jadbabaie
2018 A* conf
Visual-Inertial Navigation Algorithm Development Using Photorealistic Camera Simulation in the Loop.
ICRA
Thomas Sayre-McCord, Winter Guerra, Amado Antonini, Jasper Arneberg, Austin Brown, Guilherme Venturelli Cavalheiro, Yajun Fang, Alex A. Gorodetsky, Dave McCoy, Sebastian Quilter, Fabian Riether, Ezra Tal, Yunus Terzioglu, Luca Carlone, Sertac Karaman
2017 A* conf
Attention and anticipation in fast visual-inertial navigation.
ICRA
Luca Carlone, Sertac Karaman
2017 J jnl
Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models.
CoRR
Siddharth Choudhary, Luca Carlone, Carlos Nieto-Granda, John G. Rogers III, Henrik I. Christensen, Frank Dellaert
2017 J jnl
Distributed mapping with privacy and communication constraints: Lightweight algorithms and object-based models.
Int. J. Robotics Res.
Siddharth Choudhary, Luca Carlone, Carlos Nieto-Granda, John G. Rogers III, Henrik I. Christensen, Frank Dellaert
2017 A* conf
Duckietown: An open, inexpensive and flexible platform for autonomy education and research.
ICRA
Liam Paull, Jacopo Tani, Heejin Ahn, Javier Alonso-Mora, Luca Carlone, Michal Cáp, Yu Fan Chen, Changhyun Choi, Jeff Dusek, Yajun Fang, Daniel Hoehener, Shih-Yuan Liu, Michael Novitzky, Igor Franzoni Okuyama, Jason Pazis, Guy Rosman, Valerio Varricchio, Hsueh-Cheng Wang, Dmitry S. Yershov, Hang Zhao, Michael Benjamin, Christopher Carr, Maria T. Zuber, Sertac Karaman, Emilio Frazzoli, Domitilla Del Vecchio, Daniela Rus, Jonathan P. How, John J. Leonard, Andrea Censi
2017 J jnl
On-Manifold Preintegration for Real-Time Visual-Inertial Odometry.
IEEE Trans. Robotics
Christian Forster, Luca Carlone, Frank Dellaert, Davide Scaramuzza
2017 J jnl
Sensing-Constrained LQG Control.
CoRR
Vasileios Tzoumas, Luca Carlone, George J. Pappas, Ali Jadbabaie
2017 J jnl
Sparse Depth Sensing for Resource-Constrained Robots.
CoRR
Fangchang Ma, Luca Carlone, Ulas Ayaz, Sertac Karaman
2017 C conf
Supermodular mean squared error minimization for sensor scheduling in optimal Kalman Filtering.
ACC
Prince Singh, Min Chen, Luca Carlone, Sertac Karaman, Emilio Frazzoli, David Hsu
2017 — conf
Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach.
Robotics: Science and Systems
Zhengdong Zhang, Amr Suleiman, Luca Carlone, Vivienne Sze, Sertac Karaman
2016 C conf
A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group.
WAFR
David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard
2016 J jnl
A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group.
CoRR
David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard
2016 J jnl
Attention and Anticipation in Fast Visual-Inertial Navigation.
CoRR
Luca Carlone, Sertac Karaman
2016 — conf
Data-driven prediction of EVAR with confidence in time-varying datasets.
CDC
Allan Axelrod, Luca Carlone, Girish Chowdhary, Sertac Karaman
2016 A* conf
Distributed trajectory estimation with privacy and communication constraints: A two-stage distributed Gauss-Seidel approach.
ICRA
Siddharth Choudhary, Luca Carlone, Carlos Nieto-Granda, John G. Rogers III, Henrik I. Christensen, Frank Dellaert
2016 — conf
Multi Robot Object-Based SLAM.
ISER
Siddharth Choudhary, Luca Carlone, Carlos Nieto, John G. Rogers III, Zhen Liu, Henrik I. Christensen, Frank Dellaert
2016 J jnl
Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age.
IEEE Trans. Robotics
Cesar Cadena, Luca Carlone, Henry Carrillo, Yasir Latif, Davide Scaramuzza, José Neira, Ian Reid, John J. Leonard
2016 J jnl
Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification.
IEEE Trans. Robotics
Luca Carlone, Giuseppe Carlo Calafiore, Carlo Tommolillo, Frank Dellaert
2016 J jnl
SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group.
CoRR
David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard
2016 J jnl
Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age.
CoRR
Cesar Cadena, Luca Carlone, Henry Carrillo, Yasir Latif, Davide Scaramuzza, José Neira, Ian D. Reid, John J. Leonard
2016 A conf
Sparse sensing for resource-constrained depth reconstruction.
IROS
Fangchang Ma, Luca Carlone, Ulas Ayaz, Sertac Karaman
2015 A* conf
Duality-based verification techniques for 2D SLAM.
ICRA
Luca Carlone, Frank Dellaert
2015 A conf
Exactly sparse memory efficient SLAM using the multi-block alternating direction method of multipliers.
IROS
Siddharth Choudhary, Luca Carlone, Henrik I. Christensen, Frank Dellaert
2015 — conf
IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation.
Robotics: Science and Systems
Christian Forster, Luca Carlone, Frank Dellaert, Davide Scaramuzza
2015 A* conf
Initialization techniques for 3D SLAM: A survey on rotation estimation and its use in pose graph optimization.
ICRA
Luca Carlone, Roberto Tron, Kostas Daniilidis, Frank Dellaert
2015 J jnl
Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions.
CoRR
Luca Carlone, David M. Rosen, Giuseppe Carlo Calafiore, John J. Leonard, Frank Dellaert
2015 A conf
Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions.
IROS
Luca Carlone, David M. Rosen, Giuseppe Carlo Calafiore, John J. Leonard, Frank Dellaert
2015 J jnl
On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation.
CoRR
Christian Forster, Luca Carlone, Frank Dellaert, Davide Scaramuzza
2015 J jnl
Planning in the continuous domain: A generalized belief space approach for autonomous navigation in unknown environments.
Int. J. Robotics Res.
Vadim Indelman, Luca Carlone, Frank Dellaert
2015 J jnl
Pose Graph Optimization in the Complex Domain: Lagrangian Duality, Conditions For Zero Duality Gap, and Optimal Solutions.
CoRR
Giuseppe Carlo Calafiore, Luca Carlone, Frank Dellaert
2015 J jnl
Quaternion-based EKF-SLAM from relative pose measurements: observability analysis and applications.
Robotica
Luca Carlone, Vito Macchia, Federico Tibaldi, Basilio Bona
2015 C conf
Rigid components identification and rigidity control in bearing-only localization using the graph cycle basis.
ACC
Roberto Tron, Luca Carlone, Frank Dellaert, Kostas Daniilidis
2015 A conf
Structural Symmetries from Motion for Scene Reconstruction and Understanding.
BMVC
Natesh Srinivasan, Luca Carlone, Frank Dellaert
2014 J jnl
A fast and accurate approximation for planar pose graph optimization.
Int. J. Robotics Res.
Luca Carlone, Rosario Aragues, José A. Castellanos, Basilio Bona
2014 J jnl
Active SLAM and Exploration with Particle Filters Using Kullback-Leibler Divergence.
J. Intell. Robotic Syst.
Luca Carlone, Jingjing Du, Miguel Efrain Kaouk Ng, Basilio Bona, Marina Indri
2014 C conf
An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring.
IAS
Stefano Rosa, Ludovico Orlando Russo, Giuseppe Airo Farulla, Luca Carlone, Roberto Antonini, Marco Gaspardone, Basilio Bona
2014 A* conf
Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs.
ICRA
Han-Pang Chiu, Xun S. Zhou, Luca Carlone, Frank Dellaert, Supun Samarasekera, Rakesh Kumar
2014 J jnl
Distributed Random Convex Programming via Constraints Consensus.
SIAM J. Control. Optim.
Luca Carlone, Vaibhav Srivastava, Francesco Bullo, Giuseppe Carlo Calafiore
2014 A* conf
Eliminating conditionally independent sets in factor graphs: A unifying perspective based on smart factors.
ICRA
Luca Carlone, Zsolt Kira, Chris Beall, Vadim Indelman, Frank Dellaert
2014 J jnl
From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization.
IEEE Trans. Robotics
Luca Carlone, Andrea Censi
2014 A conf
Mining Structure Fragments for Smart Bundle Adjustment.
BMVC
Luca Carlone, Pablo Fernández Alcantarilla, Han-Pang Chiu, Zsolt Kira, Frank Dellaert
2014 A* conf
Planning under uncertainty in the continuous domain: A generalized belief space approach.
ICRA
Vadim Indelman, Luca Carlone, Frank Dellaert
2014 Misc conf
Scan Matching for Graph SLAM in Indoor Dynamic Scenarios.
FLAIRS
Jingchun Yin, Luca Carlone, Stefano Rosa, Muhammad Latif Anjum, Basilio Bona
2014 A conf
Selecting good measurements via ℓ1 relaxation: A convex approach for robust estimation over graphs.
IROS
Luca Carlone, Andrea Censi, Frank Dellaert
2014 J jnl
Supervision and monitoring of logistic spaces by a cooperative robot team: methodologies, problems, and solutions.
Intell. Serv. Robotics
Basilio Bona, Luca Carlone, Marina Indri, Stefano Rosa
2014 A* conf
Uncertainty-constrained robot exploration: A mixed-integer linear programming approach.
ICRA
Luca Carlone, Daniel Lyons
2013 A* conf
A convergence analysis for pose graph optimization via Gauss-Newton methods.
ICRA
Luca Carlone
2013 C conf
Towards Planning in Generalized Belief Space.
ISRR
Vadim Indelman, Luca Carlone, Frank Dellaert
2012 J jnl
A Distributed Technique for Localization of Agent Formations From Relative Range Measurements.
IEEE Trans. Syst. Man Cybern. Part A
Giuseppe Carlo Calafiore, Luca Carlone, Mingzhu Wei
2012 J jnl
Distributed centroid estimation from noisy relative measurements.
Syst. Control. Lett.
Rosario Aragues, Luca Carlone, Carlos Sagüés, Giuseppe Carlo Calafiore
2012 J jnl
From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation with Application to Pose Graph Optimization
CoRR
Luca Carlone, Andrea Censi
2012 — conf
Graph Optimization with Unstructured Covariance: Fast, Accurate, Linear Approximation.
SIMPAR
Luca Carlone, Jingchun Yin, Stefano Rosa, Zehui Yuan
2011 — conf
A Linear Approximation for Graph-based Simultaneous Localization and Mapping.
Robotics: Science and Systems
Luca Carlone, Rosario Aragues, José A. Castellanos, Basilio Bona
2011 — conf
A distributed algorithm for random convex programming.
NetGCoop
Luca Carlone, Vaibhav Srivastava, Francesco Bullo, Giuseppe Carlo Calafiore
2011 A* conf
A first-order solution to simultaneous localization and mapping with graphical models.
ICRA
Luca Carlone, Rosario Aragues, José A. Castellanos, Basilio Bona
2011 A* conf
Multi-agent localization from noisy relative pose measurements.
ICRA
Rosario Aragues, Luca Carlone, Giuseppe Carlo Calafiore, Carlos Sagüés
2011 J jnl
Simultaneous Localization and Mapping Using Rao-Blackwellized Particle Filters in Multi Robot Systems.
J. Intell. Robotic Syst.
Luca Carlone, Miguel Efrain Kaouk Ng, Jingjing Du, Basilio Bona, Marina Indri
2010 — conf
A distributed Gauss-Newton approach for range-based localization of multi agent formations.
CACSD
Giuseppe Carlo Calafiore, Luca Carlone, Mingzhu Wei
2010 — conf
A distributed gradient method for localization of formations using relative range measurements.
CACSD
Giuseppe Carlo Calafiore, Luca Carlone, Mingzhu Wei
2010 A conf
An application of Kullback-Leibler divergence to active SLAM and exploration with Particle Filters.
IROS
Luca Carlone, Jingjing Du, Miguel Efrain Kaouk Ng, Basilio Bona, Marina Indri
2010 C conf
Cooperative robotic teams for supervision and management of large logistic spaces: Methodology and applications.
ETFA
Fabrizio Abrate, Basilio Bona, Marina Indri, Luca Carlone
2010 — conf
Distributed optimization techniques for range localization in networked systems.
CDC
Giuseppe Carlo Calafiore, Luca Carlone, Mingzhu Wei
2010 A* conf
Rao-Blackwellized Particle Filters multi robot SLAM with unknown initial correspondences and limited communication.
ICRA
Luca Carlone, Miguel Efrain Kaouk Ng, Jingjing Du, Basilio Bona, Marina Indri
2009 — conf
A comparative study on robust localization: Fault tolerance and robustness test on probabilistic filters for range-based positioning.
ICAR
Luca Carlone, Basilio Bona