Search Results - "Dümbgen, Frederike"

Certifiably optimal rotation and pose estimation based on the Cayley map by Barfoot, Timothy D., Holmes, Connor, Dümbgen, Frederike

“…We present novel, convex relaxations for rotation and pose estimation problems that can a posteriori guarantee global optimality for practical measurement…”
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On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics by Holmes, Connor, Dumbgen, Frederike, Barfoot, Timothy

“…In recent years, there has been remarkable progress in the development of so-called certifiable perception methods, which leverage semidefinite, convex…”
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Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations by Dumbgen, Frederike, Holmes, Connor, Agro, Ben, Barfoot, Timothy

“…In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally…”
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Data-Driven Batch Localization and SLAM Using Koopman Linearization by Guo, Zi Cong, Dumbgen, Frederike, Forbes, James Richard, Barfoot, Timothy D.

“…In this article, we present a framework for model-free batch localization and simultaneous localization and mapping (SLAM). We use lifting functions to map a…”
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Relax and Recover: Guaranteed Range-Only Continuous Localization by Pacholska, Michalina, Dumbgen, Frederike, Scholefield, Adam

“…Range-only localization has applications as diverse as underwater navigation, drone tracking and indoor localization. While the theoretical foundations of…”
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Optimal Initialization Strategies for Range-Only Trajectory Estimation by Goudar, Abhishek, Dümbgen, Frederike, Barfoot, Timothy D., Schoellig, Angela P.

“…Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags,…”
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AL2: Progressive Activation Loss for Learning General Representations in Classification Neural Networks by Helou, Majed El, Dumbgen, Frederike, Susstrunk, Sabine

“…The large capacity of neural networks enables them to learn complex functions. To avoid overfitting, networks however require a lot of training data that can…”
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Multi-Modal Probabilistic Indoor Localization on a Smartphone by Dumbgen, Frederike, Oeschger, Cynthia, Kolundzija, Mihailo, Scholefield, Adam, Girardin, Emmanuel, Leuenberger, Johan, Ayer, Serge

“…The satellite-based Global Positioning System (GPS) provides robust localization on smartphones outdoors. In indoor environments, however, no system is close…”
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Safe and Efficient Estimation for Robotics through the Optimal Use of Resources by Dümbgen, Frederike

“…In order to operate in and interact with the physical world, robots need to have estimates of the current and future state of the environment. We thus equip…”
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A Data-driven Contact Estimation Method for Wheeled-Biped Robots by Gökbakan, Ü. Bora, Dümbgen, Frederike, Caron, Stéphane

“…Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing…”
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Safe and Smooth: Certified Continuous-Time Range-Only Localization by Dümbgen, Frederike, Holmes, Connor, Barfoot, Timothy D

“…A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance…”
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Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization by Dümbgen, Frederike, Holmes, Connor, Barfoot, Timothy D

“…In recent years, many estimation problems in robotics have been shown to be solvable to global optimality using their semidefinite relaxations. However, the…”
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SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics by Holmes, Connor, Dümbgen, Frederike, Barfoot, Timothy D

“…Differentiable optimization is a powerful new paradigm capable of reconciling model-based and learning-based approaches in robotics. However, the majority of…”
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Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map by Barfoot, Timothy D, Holmes, Connor, Dümbgen, Frederike

“…We present novel, convex relaxations for rotation and pose estimation problems that can a posteriori guarantee global optimality for practical measurement…”
Get full text

On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics by Holmes, Connor, Dümbgen, Frederike, Barfoot, Timothy D

“…In recent years, there has been remarkable progress in the development of so-called certifiable perception methods, which leverage semidefinite, convex…”
Get full text

Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations by Dümbgen, Frederike, Holmes, Connor, Agro, Ben, Barfoot, Timothy D

“…In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally…”
Get full text

Optimal Initialization Strategies for Range-Only Trajectory Estimation by Goudar, Abhishek, Dümbgen, Frederike, Barfoot, Timothy D, Schoellig, Angela P

“…Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags,…”
Get full text

What to Learn: Features, Image Transformations, or Both? by Chen, Yuxuan, Xu, Binbin, Dümbgen, Frederike, Barfoot, Timothy D

“…Long-term visual localization is an essential problem in robotics and computer vision, but remains challenging due to the environmental appearance changes…”
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Blind as a bat: audible echolocation on small robots by Dümbgen, Frederike, Hoffet, Adrien, Kolundžija, Mihailo, Scholefield, Adam, Vetterli, Martin

“…For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization,…”
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Safe and Smooth: Certified Continuous-Time Range-Only Localization by Dumbgen, Frederike, Holmes, Connor, Barfoot, Timothy D.

“…A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance…”
Get full text