An incremental trust-region method for Robust online sparse least-squares estimation. - David M. Rosen; Michael Kaess; John J. Leonard (ICRA, 2012)

Robust incremental online inference over sparse factor graphs: Beyond the Gaussian case. - David M. Rosen; Michael Kaess; John J. Leonard (ICRA, 2013)

Inference over heterogeneous finite-/infinite-dimensional systems using factor graphs and Gaussian processes. - David M. Rosen; Guoquan Huang 001; John J. Leonard (ICRA, 2014)

RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. - David M. Rosen; Michael Kaess; John J. Leonard (IEEE Trans. Robotics, 2014)

A convex relaxation for approximate global optimization in simultaneous localization and mapping. - David M. Rosen; Charles DuHadway; John J. Leonard (ICRA, 2015)

Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions. - Luca Carlone; David M. Rosen; Giuseppe Carlo Calafiore; John J. Leonard; Frank Dellaert (IROS, 2015)

Towards lifelong feature-based mapping in semi-static environments. - David M. Rosen; Julian Mason; John J. Leonard (ICRA, 2016)

A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. - David M. Rosen; Luca Carlone; Afonso S. Bandeira; John J. Leonard (WAFR, 2016)

SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group. - David M. Rosen; Luca Carlone; Afonso S. Bandeira; John J. Leonard (Int. J. Robotics Res., 2019)

Shonan Rotation Averaging: Global Optimality by Surfing SO(p)n. - Frank Dellaert; David M. Rosen; Jing Wu; Robert E. Mahony; Luca Carlone (ECCV (6), 2020)

A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty. - Valentin Peretroukhin; Matthew Giamou; W. Nicholas Greene; David M. Rosen; Jonathan Kelly; Nicholas Roy (Robotics: Science and Systems, 2020)

Scalable Low-Rank Semidefinite Programming for Certifiably Correct Machine Perception. - David M. Rosen (WAFR, 2021)

Advances in Inference and Representation for Simultaneous Localization and Mapping. - David M. Rosen; Kevin J. Doherty 001; Antonio Terán Espinoza; John J. Leonard (Annu. Rev. Control. Robotics Auton. Syst., 2021)

Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows. - Qiangqiang Huang; Can Pu; Kasra Khosoussi; David M. Rosen; Dehann Fourie; Jonathan P. How; John J. Leonard (CoRR, 2021)

Distributed Certifiably Correct Pose-Graph Optimization. - Yulun Tian; Kasra Khosoussi; David M. Rosen; Jonathan P. How (IEEE Trans. Robotics, 2021)

Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM. - Kevin J. Doherty 001; David M. Rosen; John J. Leonard (ICRA, 2022)

Spectral Measurement Sparsification for Pose-Graph SLAM. - Kevin J. Doherty 001; David M. Rosen; John J. Leonard (IROS, 2022)

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 (IROS, 2022)

Convex Iteration for Distance-Geometric Inverse Kinematics. - Matthew Giamou; Filip Maric; David M. Rosen; Valentin Peretroukhin; Nicholas Roy; Ivan Petrovic; Jonathan Kelly (IEEE Robotics Autom. Lett., 2022)

Accelerating Certifiable Estimation with Preconditioned Eigensolvers. - David M. Rosen (IEEE Robotics Autom. Lett., 2022)

SCORE: A Second-Order Conic Initialization for Range-Aided SLAM. - Alan Papalia; Joseph Morales; Kevin J. Doherty 001; David M. Rosen; John J. Leonard (ICRA, 2023)

Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows. - Qiangqiang Huang; Can Pu; Kasra Khosoussi; David M. Rosen; Dehann Fourie; Jonathan P. How; John J. Leonard (IEEE Trans. Robotics, 2023)

OASIS: Optimal Arrangements for Sensing in SLAM. - Pushyami Kaveti; Matthew Giamou; Hanumant Singh; David M. Rosen (ICRA, 2024)

MAC: Maximizing Algebraic Connectivity for Graph Sparsification. - Kevin J. Doherty 001; Alan Papalia; Yewei Huang; David M. Rosen; Brendan J. Englot; John J. Leonard (CoRR, 2024)

An Overview of the Burer-Monteiro Method for Certifiable Robot Perception. - Alan Papalia; Yulun Tian; David M. Rosen; Jonathan P. How; John J. Leonard (CoRR, 2024)

Certifiably Correct Range-Aided SLAM. - Alan Papalia; Andrew Fishberg; Brendan W. O'Neill; Jonathan P. How; David M. Rosen; John J. Leonard (IEEE Trans. Robotics, 2024)

A Trust-Region Method for Graphical Stein Variational Inference. - Liam Pavlovic; David M. Rosen (UAI, 2025)

Distributed Certifiably Correct Range-Aided SLAM. - Alexander Thoms; Alan Papalia; Jared Velasquez; David M. Rosen; Sriram Narasimhan (CoRR, 2025)

A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration. - Emmett Wise; Pushyami Kaveti; Qilong Chen; Wenhao Wang; Hanumant Singh; Jonathan Kelly; David M. Rosen; Matthew Giamou (CoRR, 2025)