Source: https://lucacarlone.mit.edu/research/publications/
Timestamp: 2019-04-20 16:43:35+00:00

Document:
C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. Reid, and J. J. Leonard. Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age. IEEE Trans. Robotics, 32(6):1309-1332, 2016.
C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza. On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation. IEEE Trans. Robotics, 33(1):1–21, 2016.
Z. Zhang, A. Suleiman, L. Carlone, V. Sze, and S. Karaman. Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach. In Robotics: Science and Systems (RSS), 2017.
L. Carlone and S. Karaman. Attention and Anticipation in Fast Visual-Inertial Navigation. In IEEE Intl. Conf. on Robotics and Automation (ICRA), page 3886–3893, Singapore, May 2017.
D. M. Rosen, L. Carlone, A. S. Bandeira, and J. J. Leonard. SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. In Intl. Workshop on the Algorithmic Foundations of Robotics (WAFR), San Francisco, CA, December 2016.
F. Ma, L. Carlone, U. Ayaz, and S. Karaman. Sparse Sensing for Resource-Constrained Depth Reconstruction. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), page 96–103, 2016.
C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza. IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation. In Robotics: Science and Systems (RSS), 2015.
V. Tzoumas, P. Antonante, and L. Carlone. Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees. Technical Report, 2019.
H. Yang and L. Carlone. A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates. Technical Report, 2019.
V. Tzoumas, L. Carlone, G. J. Pappas, and A. Jadbabaie. Sensing-Constrained LQG Control. Technical Report, 2019.
P. Lajoie, S. Hu, G. Beltrame, and L. Carlone. Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models. IEEE Robotics and Automation Letters (RA-L), 2019.
S. Hu and L. Carlone. Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization. IEEE Robotics and Automation Letters (RA-L), 2019.
A. Rosinol, T. Sattler, M. Pollefeys, and L. Carlone. Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities. In IEEE Intl. Conf. on Robotics and Automation (ICRA), 2019.
L. Carlone and C. Pinciroli. Robot Co-design: Beyond the Monotone Case. In IEEE Intl. Conf. on Robotics and Automation (ICRA), 2019.
A. Suleiman, Z. Zhang, L. Carlone, S. Karaman, and V. Sze. Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. IEEE Journal of Solid-State Circuits, 2018.
F. Ma, L. Carlone, U. Ayaz, and S. Karaman. Sparse Depth Sensing for Resource-Constrained Robot Perception. Intl. J. of Robotics Research, 2018.
L. Carlone and S. Karaman. Attention and Anticipation in Fast Visual-Inertial Navigation. IEEE Trans. Robotics, 2018.
D. M. Rosen, L. Carlone, A. S. Bandeira, and J. J. Leonard. SE-Sync: a certifiably correct algorithm for synchronization over the Special Euclidean group. Intl. J. of Robotics Research, 2018.
L. Carlone and G. Calafiore. Convex Relaxations for Pose Graph Optimization with Outliers. IEEE Robotics and Automation Letters (RA-L), 3(2):1160–1167, 2018.
L. Carlone, A. Axelrod, S. Karaman, and G. Chowdhary. Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations. In Alex Aved Erik Blasch Sai Ravela, editor, Handbook of Dynamic Data Driven Application Systems, chapter 14. Springer International Publishing, 2018.
A. M. Axelrod, L. Carlone, G. Chowdhary, and S. Karaman. Prediction of EVaR-based Upper Bound in Time-based Datasets. In Alex Aved Erik Blasch Sai Ravela, editor, Handbook of Dynamic Data Driven Application Systems, chapter 16. Springer International Publishing, 2018.
V. Tzoumas, L. Carlone, G. J. Pappas, and A. Jadbabaie. Sensing-Constrained LQG Control. In American Control Conference, page 197–202, Milwaukee, WI, June 2018.
A. Suleiman, Z. Zhang, L. Carlone, S. Karaman, and V. Sze. Navion: An Energy-Efficient Visual-Inertial Odometry Accelerator for Micro Robotics and Beyond. In IEEE Hot Chips: A Symposium for High-Performance Chips, 2018.
A. Suleiman, Z. Zhang, L. Carlone, S. Karaman, and V. Sze. Navion: A Fully Integrated Energy-Efficient Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones. In IEEE Symposium on VLSI Circuits (VLSI-Circuits), 2018.
R. T. Sayre-McCord, W. Guerra, A. Antonini, J. Arneberg, A. Brown, G. Cavalheiro, Y. Fang, A. Gorodetsky, D. McCoy, S. Quilter, F. Riether, E. Tal, Y. Terzioglu, L. Carlone, and S. Karaman. Visual-inertial navigation algorithm development using photorealistic camera simulation in the loop. In IEEE Intl. Conf. on Robotics and Automation (ICRA), 2018.
H-P. Chiu, L. Carlone, F. Dellaert, S. Samarasekera, and R. Kumar. Plug-and-Play Navigation Using Factor Graphs. Technical Report, 2017.
S. Choudhary, L. Carlone, C. Nieto, J. Rogers, H. I. Christensen, and F. Dellaert. Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models, accepted. Intl. J. of Robotics Research, 2017.
D. M. Rosen and L. Carlone. Computational Enhancements for Certifiably Correct SLAM. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2017.
P. Singh, M. Chen, L. Carlone, S. Karaman, E. Frazzoli, and D. Hsu. Supermodular Mean Squared Error Minimization for Sensor Scheduling in Optimal Kalman Filtering. In American Control Conference, page 5787–5794, 2017.
L. Paull, J. Tani, H. Ahn, J. Alonso-Mora, L. Carlone, M. Cap, Y. F. Chen, C. Choi, J. Dusek, Y. Fang, D. Hoehener, S. -Y. Liu, M. Novitzky, I. F. Okuyama, J. Pazis, G. Rosman, V. Varricchio, H. -C. Wang, D. Yershov, H. Zhao, M. Benjamin, C. Carr, M. Zuber, S. Karaman, E. Frazzoli, D. Del~Vecchio, D. Rus, J. How, J. Leonard, and A. Censi. Duckietown: an Open, Inexpensive and Flexible and Capable Platform for Autonomy Education and Research. In IEEE Intl. Conf. on Robotics and Automation (ICRA), page 1497–1504, 2017.
L. Carlone, G. Calafiore, C. Tommolillo, and F. Dellaert. Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification. IEEE Trans. Robotics, 32(3):545–565, 2016.
G. Calafiore, L. Carlone, and F. Dellaert. Lagrangian Duality in Complex Pose Graph Optimization. In Boris Goldengorin, editor, Optimization and Its Applications in Control and Data Sciences: in Honor of Boris T. Polyak’s 80th Birthday, volume 115, chapter 10, page 139–184. Springer Optimization and Its Applications, 2016.
G. C. Calafiore, L. Carlone, and F. Dellaert. Lagrangian Duality in Complex Pose Graph Optimization. Optimization and Its Applications in Control and Data Sciences: in Honor of Boris T. Polyak’s 80th Birthday. Springer Optimization and Its Applications, Boris Goldengorin (Ed.), 115:139–184, 2016.
S. Choudhary, L. Carlone, C. Nieto, J. Rogers, Z. Liu, H. I. Christensen, and F. Dellaert. Multi Robot Object-based SLAM. In Intl. Sym. on Experimental Robotics (ISER), 2016.
A. Axelrod, L. Carlone, G. Chowdhary, and S. Karaman. Data-driven Prediction of EVAR with Confidence in Time-varying Datasets. In IEEE Conf. on Decision and Control (CDC), page 5833–5838, 2016.
S. Choudhary, L. Carlone, C. Nieto, J. Rogers, H. I. Christensen, and F. Dellaert. Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel Approach. In IEEE Intl. Conf. on Robotics and Automation (ICRA), page 5261–5268, 2016.
L. Carlone, A. Axelrod, S. Karaman, and G. Chowdhary. Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations. , 2016.
V. Indelman, L. Carlone, and F. Dellaert. Planning in the Continuous Domain: a Generalized Belief Space Approach for Autonomous Navigation in Unknown Environments. Intl. J. of Robotics Research, 34(7):849–882, 2015.
L. Carlone, D. M. Rosen, G. C. Calafiore, J. J. Leonard, and F. Dellaert. Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), page 125–132, 2015.
S. Choudhary, L. Carlone, H. I. Christensen, and F. Dellaert. Exactly Sparse Memory Efficient SLAM using the Multi-Block Alternating Direction Method of Multipliers. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), page 1349–1356, 2015.
S. Rosa, L. O. Russo, G. A. Farulla, L. Carlone, R. Antonini, G. Marco, and B. Bona. An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring. In Intl. Conf. on Intelligent Autonomous Systems (IAS), Volume 302 of the series Advances in Intelligent Systems and Computing, page 95–107, 2015.
N. Srinivasan, L. Carlone, and F. Dellaert. Structural Symmetries from Motion for Scene Reconstruction and Understanding. In British Machine Vision Conf. (BMVC), 2015.
L. Carlone, G. Calafiore, and F. Dellaert. Pose Graph Optimization in the Complex Domain: Lagrangian Duality and Optimal Solutions. In Robotics: Science and Systems (RSS), Workshop “Reviewing the review process”, 2015.
R. Tron, D. Rosen, and L. Carlone. On the Inclusion of Determinant Constraints in Lagrangian Duality for 3D SLAM. In Robotics: Science and Systems (RSS), Workshop “The problem of mobile sensors: Setting future goals and indicators of progress for SLAM”, 2015.
L. Carlone, J. Dong, S. Fenu, G. C. Rains, and F. Dellaert. Towards 4D Crop Analysis in Precision Agriculture: Estimating Plant Height and Crown Radius over Time via Expectation-Maximization. In IEEE Intl. Conf. on Robotics and Automation (ICRA), 2015.
L. Carlone and F. Dellaert. Duality-based Verification Techniques for 2D SLAM. In IEEE Intl. Conf. on Robotics and Automation (ICRA), page 4589–4596, 2015.
L. Carlone, R. Tron, K. Daniilidis, and F. Dellaert. Initialization Techniques for 3D SLAM: a Survey on Rotation Estimation and its Use in Pose Graph Optimization. In IEEE Intl. Conf. on Robotics and Automation (ICRA), page 4597–4604, 2015.
R. Tron, L. Carlone, F. Dellaert, and K. Daniilidis. Rigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basis. In American Control Conference, page 3911–3918, 2015.
L. Carlone, R. Tron, K. Daniilidis, and F. Dellaert. Initialization Techniques for 3D SLAM: a Survey on Rotation Estimation and its Use in Pose Graph Optimization. Supplemental material. , 2015.
L. Carlone, D. Rosen, G. Calafiore, J. J. Leonard, and F. Dellaert. Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions. Supplemental material. , 2015.
L. Carlone, J. Dong, S. Fenu, G. C. Rains, and F. Dellaert. Towards 4D Crop Analysis in Precision Agriculture: Estimating Plant Height and Crown Size over Time using Factor Graphs. Supplemental material. , 2015.
V. Indelman, L. Carlone, and F. Dellaert. A Generalized Belief Space Approach for Autonomous Navigation in Unknown Environments. , 2015.
L. Carlone and A. Censi. From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization. IEEE Trans. Robotics, 30(2):475–492, 2014.
L. Carlone, V. Srivastava, F. Bullo, and G. Calafiore. Distributed Random Convex Programming via Constraints Consensus. SIAM Journal on Control and Optimization, 52(1):629–662, 2014.
L. Carlone, R. Aragues, J. A. Castellanos, and B. Bona. A fast and accurate approximation for planar pose graph optimization. Intl. J. of Robotics Research, 33(7):965–987, 2014.
L. Carlone, V. Macchia, F. Tibaldi, and B. Bona. Quaternion-based EKF-SLAM from relative pose measurements: observability analysis and applications. Robotica, 33(6):1250–1280, 2014.
B. Bona, L. Carlone, M. Indri, and S. Rosa. Supervision and Monitoring of Logistic Spaces by a Cooperative Robotic Team: Methodologies, Problems, and Solutions. Intelligent Service Robotics, Springer, 7(4):185–202, 2014.
L. Carlone, J. Du, Kaouk M. Ng, M. Indri, and B. Bona. Active SLAM and Exploration with Particle Filters using Kullback-Leibler Divergence. J. of Intelligent and Robotic Systems, 75(2):291–311, 2014.
L. Carlone, P. F. Alcantarilla, H. P. Chiu, K. Zsolt, and F. Dellaert. Mining Structure Fragments for Smart Bundle Adjustment. In British Machine Vision Conf. (BMVC), 2014.
L. Carlone, A. Censi, and F. Dellaert. Selecting good measurements via $\ell_1$ relaxation: a convex approach for robust estimation over graphs. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2014.
J. Dong, L. Carlone, G. C. Rains, T. Coolong, and F. Dellaert. 4D Mapping of Fields using Autonomous Ground and Aerial Vehicles. In 2014 ASABE and CSBE/SCGAB Annual International Meeting, 2014.
L. Carlone and D. Lyons. Uncertainty-constrained robot exploration: a mixed-integer linear programming approach. In IEEE Intl. Conf. on Robotics and Automation (ICRA), page 1140–1147, 2014.
V. Indelman, L. Carlone, and F. Dellaert. Planning Under Uncertainty in the Continuous Domain: a Generalized Belief Space Approach. In IEEE Intl. Conf. on Robotics and Automation (ICRA), 2014.
L. Carlone, Z. Kira, C. Beall, V. Indelman, and F. Dellaert. Eliminating Conditionally Independent Sets in Factor Graphs: A Unifying Perspective based on Smart Factors. In IEEE Intl. Conf. on Robotics and Automation (ICRA), page 4290–4297, 2014.
H. Chiu, X. Zhou, L. Carlone, F. Dellaert, S. Samarasekera, and R. Kumar. Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs. In IEEE Intl. Conf. on Robotics and Automation (ICRA), 2014.
V. Indelman, L. Carlone, and F. Dellaert. Towards Planning in Generalized Belief Space. In Proc. of the Intl. Symp. of Robotics Research (ISRR), 2013.
L. Carlone. Convergence Analysis of Pose Graph Optimization via Gauss-Newton methods. In IEEE Intl. Conf. on Robotics and Automation (ICRA), page 965–972, 2013.
L. Carlone, S. Williams, and R. Roberts. Preintegrated IMU factor: Computation of the Jacobian Matrices. Technical Report, 2013.
R. Aragues, L. Carlone, G. Calafiore, and C. Sagues. Distributed centroid estimation from noisy relative measurements. Systems & Control Letters, 61(7):773–779, 2012.
G. Calafiore, L. Carlone, and M. Wei. A distributed technique for localization of agent formations from relative range measurements. IEEE Trans. on Systems, Man, and Cybernetics, Part A, 42(5):1065–1076, 2012.
L. Carlone. Nonlinear estimation techniques for autonomous navigation in single and multi robot systems. PhD thesis, Politecnico di Torino, 2012.
L. Carlone, J. Yin, S. Rosa, and Y. Zehui. Graph Optimization with Unstructured Covariance: Fast, Accurate, Linear Approximation. In Intl. Conf. on Simulation, Modeling, and Programming, for Autonomous Robots, page 261–274, 2012.
L. Carlone, V. Macchia, F. Tibaldi, and B. Bona. Robot localization and 3D mapping: observability analysis and applications. In Intl. Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), 2012.
L. Carlone, V. Srivastava, F. Bullo, and G. Calafiore. A Distributed Algorithm for Random Convex Programming. In Intl. Conf. on NETwork Games, COntrol and OPtimization (NETGCOOP), page 1–7, 2011.
L. Carlone, R. Aragues, J. A. Castellanos, and B. Bona. A Linear Approximation for Graph-based Simultaneous Localization and Mapping. In Robotics: Science and Systems (RSS), page 41–48, 2011.
L. Carlone, R. Aragues, J. A. Castellanos, and B. Bona. A First-Order Solution to Simultaneous Localization And Mapping with Graphical Models. In IEEE Intl. Conf. on Robotics and Automation (ICRA), page 1764–1771, 2011.
R. Aragues, L. Carlone, G. Calafiore, and C. Sagues. Multi-agent localization from noisy relative pose measurements. In IEEE Intl. Conf. on Robotics and Automation (ICRA), page 364–369, 2011.
J. Du, L. Carlone, M. Kaouk Ng, B. Bona, and M. Indri. A Comparative Study on Active SLAM and Autonomous Exploration with Particle Filters. In IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics (AIM), page 916–923, 2011.
L. Carlone and B. Bona. On registration of uncertain three-dimensional vectors with application to robotics. In 18th IFAC World Congress, page 8150–8158, 2011.
L. Carlone, Kaouk M. Ng, J. Du, B. Bona, and M. Indri. Simultaneous Localization and Mapping using Rao-Blackwellized Particle Filters in Multi Robot Systems. J. of Intelligent and Robotic Systems, 63(2):283–307, 2010.
G. Calafiore, L. Carlone, and M. Wei. Sensor Fusion for Position Estimation in Networked Systems. In Ciza Thomas, editor, Sensor Fusion and its Applications, chapter 11, page 251–276. Sciyo, 2010.
G. Calafiore, L. Carlone, and M. Wei. Sensor Fusion for Position Estimation in Networked Systems. Sensor Fusion, Sciyo, 2010.
G. C. Calafiore, L. Carlone, and M. Wei. Distributed optimization techniques for range localization in networked systems. In IEEE Conf. on Decision and Control (CDC), page 2221–2226, 2010.
F. Abrate, B. Bona, M. Indri, and L. Carlone. Cooperative robotic teams for supervision and management of large logistic spaces: methodology and applications. In IEEE Intl. Conf. on Emerging Technologies and Factory Automation (ETFA), page 1–8, 2010.
L. Carlone, R. Micalizio, G. Nuzzolo, E. Scala, and D. Tedone. STEPS (Sistemi e Tecnologie per l’EsPlorazione Spaziale): Predictive and Command System (PCS), results on 1st Demonstration. In Intl. Conf. on Environmental Systems (ICES), 2010.
L. Carlone, J. Du, Kaouk M. Ng, B. Bona, and M. Indri. An Application of Kullback-Leibler Divergence to Active SLAM and Exploration with Particle Filters. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), page 287–293, 2010.
G. Calafiore, L. Carlone, and M. Wei. A distributed Gauss-Newton approach for range-based localization of multi agent formations. In Multiconference on Systems and Control, page 1152–1157, 2010.
G. Calafiore, L. Carlone, and M. Wei. A distributed gradient method for localization fo formations using relative range measurements. In Multiconference on Systems and Control, page 1146–1151, 2010.
G. C. Calafiore, L. Carlone, and M. Wei. Position estimation from relative distance measurements in multi-agents formations. In Mediterranean Conference on Control and Automation, page 148–153, 2010.
G. C. Calafiore, L. Carlone, and M. Wei. Network localization from range measurements: algorithms and numerical experiments. In Intl. Conf. on Cybernetics & Intelligent Systems, Int. Conf. on Robotics, Automation & Mechatronics, pages 225-230, 2010.
V. Macchia, S. Rosa, L. Carlone, and B. Bona. An application of omnidirectional vision to grid-based SLAM in indoor environments. In Intl. Conf. on Robotics and Automation (ICRA), Workshop on Omnidirectional Robot Vision, 2010.
L. Carlone, Kaouk M. Ng, J. Du, B. Bona, and M. Indri. Rao-Blackwellized Particle Filters Multi Robot SLAM with Unknown Initial Correspondences and Limited Communication. In IEEE Intl. Conf. on Robotics and Automation (ICRA), page 243–249, 2010.
L. Carlone, Kaouk M. Ng, J. Du, B. Bona, and M. Indri. Reverse KLD-Sampling for measuring uncertainty in Rao-Blackwellized Particle Filters SLAM. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Workshop on Performance Evaluation and Benchmarking for Next Intelligent Robots and Systems, 2009.
L. Carlone and B. Bona. A comparative study on robust localization: fault tolerance and robustness test on probabilistic filters for range-based positioning. In Intl. Conf. on Advanced Robotics (ICAR), page 1–8, 2009.
L. Carlone and B. Bona. Preliminary results on robust global localization: fault tolerance and robustness test on Probabilistic Shaping. In Intl. Conf. on Autonomous Robot Systems and Competitions, page 27–33, 2009.
M. Bianchi, L. Carlone, D. Girlando, A. Mangone, I. Belmonte, B. Bona, A. Bonarini, and M. Matteucci. Apparato di illuminazione robotizzato e metodo di comando. 2009.
D. Girlando, A. Mangone, L. Carlone, M. Bianchi, A. Bonarini, B. Bona, M. Matteucci, and I. Belmonte. Robotized lighting apparatus and control method. 2009.
L. Carlone and B. Bona. Probabilistic Shaping with Radial Gaussian: a probabilistic approach to 2D and 3D robotic multilateration. In Israeli Conf. of Robotics, 2008.

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