GitHub

Majorization Minimization Methods for Distributed Pose Graph Optimization

Official implementation of Majorization Minimization Methods for Distributed Pose Graph Optimization. Taosha Fan and Todd Murphey. In IEEE Transactions on Robotics (T-RO), 2024. We consider the ...
GitHub

RGB-D Visual SLAM Pipeline

ATE = Absolute Trajectory Error. RPE = Relative Pose Error. Trajectories aligned using Umeyama method before error computation. System uses RGB-D camera only — no ...
IEEE

Noncooperative Spacecraft Pose Estimation under Low Sampling Frequency: A Variational Integrator-Aided Factor Graph Optimization Approach

Abstract: Visual navigation is the prerequisite for proximity operations. However, for defunct spacecraft removal and repurposing, insufficient onboard computational resources and high visual ...
IEEE

Multi-Robot Active Graph Exploration with Reduced Pose-SLAM Uncertainty via Submodular Optimization

Abstract: This paper considers the multi-robot active graph exploration problem, where robots need to collaboratively cover a graph environment while maintaining reliable pose estimation in ...