Luca Carlone

Orcid: 0000-0003-1884-5397

According to our database1, Luca Carlone authored at least 154 papers between 2009 and 2024.

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Bibliography

2024
VERF: Runtime Monitoring of Pose Estimation With Neural Radiance Fields.
IEEE Robotics Autom. Lett., February, 2024

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge.
IEEE Trans. Robotics, 2024

Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments.
CoRR, 2024

Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds.
CoRR, 2024

Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World.
CoRR, 2024

Monitoring of Perception Systems: Deterministic, Probabilistic, and Learning-Based Fault Detection and Identification (Abstract Reprint).
Proceedings of the Thirty-Eighth AAAI Conference on Artificial Intelligence, 2024

2023
Monitoring of perception systems: Deterministic, probabilistic, and learning-based fault detection and identification.
Artif. Intell., December, 2023

D-Lite: Navigation-Oriented Compression of 3D Scene Graphs for Multi-Robot Collaboration.
IEEE Robotics Autom. Lett., November, 2023

Optimal and Robust Category-Level Perception: Object Pose and Shape Estimation From 2-D and 3-D Semantic Keypoints.
IEEE Trans. Robotics, October, 2023

Certifiable Object Pose Estimation: Foundations, Learning Models, and Self-Training.
IEEE Trans. Robotics, August, 2023

A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers.
IEEE Trans. Robotics, June, 2023

Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization.
IEEE Trans. Pattern Anal. Mach. Intell., March, 2023

An inexact projected gradient method with rounding and lifting by nonlinear programming for solving rank-one semidefinite relaxation of polynomial optimization.
Math. Program., 2023

Estimation Contracts for Outlier-Robust Geometric Perception.
Found. Trends Robotics, 2023

Indoor and Outdoor 3D Scene Graph Generation via Language-Enabled Spatial Ontologies.
CoRR, 2023

PyPose v0.6: The Imperative Programming Interface for Robotics.
CoRR, 2023

Aggressive Aerial Grasping using a Soft Drone with Onboard Perception.
CoRR, 2023

Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems.
CoRR, 2023

Multi-Camera Visual-Inertial Simultaneous Localization and Mapping for Autonomous Valet Parking.
CoRR, 2023

Data-Association-Free Landmark-based SLAM.
CoRR, 2023

Vision-Based Terrain Relative Navigation on High-Altitude Balloon and Sub-Orbital Rocket.
CoRR, 2023

Probabilistic Volumetric Fusion for Dense Monocular SLAM.
Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision, 2023

A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training.
Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Task-Aware Risk Estimation of Perception Failures for Autonomous Vehicles.
Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned.
IROS, 2023

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields.
IROS, 2023

Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams.
IROS, 2023

Data-Association-Free Landmark-based SLAM.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023


2022
NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge.
Field Robotics, March, 2022

Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems.
IEEE Trans. Robotics, 2022

Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications.
IEEE Trans. Robotics, 2022

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping.
IEEE Robotics Autom. Lett., 2022

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM.
IEEE Robotics Autom. Lett., 2022

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments.
IEEE Robotics Autom. Lett., 2022

PyPose: A Library for Robot Learning with Physics-based Optimization.
CoRR, 2022

D-Lite: Navigation-Oriented Compression of 3D Scene Graphs under Communication Constraints.
CoRR, 2022

Leveraging Large Language Models for Robot 3D Scene Understanding.
CoRR, 2022

Present and Future of SLAM in Extreme Underground Environments.
CoRR, 2022

Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints.
CoRR, 2022

Correct and Certify: A New Approach to Self-Supervised 3D-Object Perception.
CoRR, 2022

Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding.
CoRR, 2022

Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT.
CoRR, 2022

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping.
CoRR, 2022

Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization.
CoRR, 2022

Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization.
Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022

Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021
TEASER: Fast and Certifiable Point Cloud Registration.
IEEE Trans. Robotics, 2021

LQG Control and Sensing Co-Design.
IEEE Trans. Autom. Control., 2021

Corrections to "LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time".
IEEE Robotics Autom. Lett., 2021

LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time.
IEEE Robotics Autom. Lett., 2021

Kimera: From SLAM to spatial perception with 3D dynamic scene graphs.
Int. J. Robotics Res., 2021

Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems.
CoRR, 2021

Certifiable Outlier-Robust Geometric Perception: Exact Semidefinite Relaxations and Scalable Global Optimization.
CoRR, 2021

STRIDE along Spectrahedral Vertices for Solving Large-Scale Rank-One Semidefinite Relaxations.
CoRR, 2021

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge.
CoRR, 2021

Computation and Communication Co-Design for Real-Time Monitoring and Control in Multi-Agent Systems.
Proceedings of the 19th International Symposium on Modeling and Optimization in Mobile, 2021

Optimal Pose and Shape Estimation for Category-level 3D Object Perception.
Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

Neural Trees for Learning on Graphs.
Proceedings of the Advances in Neural Information Processing Systems 34: Annual Conference on Neural Information Processing Systems 2021, 2021

Smooth Mesh Estimation from Depth Data using Non-Smooth Convex Optimization.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Dynamic Grasping with a "Soft" Drone: From Theory to Practice.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Monitoring and Diagnosability of Perception Systems.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Self-Supervised Geometric Perception.
Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2021

2020
Computation-Communication Trade-Offs and Sensor Selection in Real-Time Estimation for Processing Networks.
IEEE Trans. Netw. Sci. Eng., 2020

Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection.
IEEE Robotics Autom. Lett., 2020

DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams.
IEEE Robotics Autom. Lett., 2020

Control and Trajectory Optimization for Soft Aerial Manipulation.
CoRR, 2020

From Sensor to Processing Networks: Optimal Estimation with Computation and Communication Latency.
CoRR, 2020

3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans.
Proceedings of the Robotics: Science and Systems XVI, 2020

Primal-Dual Mesh Convolutional Neural Networks.
Proceedings of the Advances in Neural Information Processing Systems 33: Annual Conference on Neural Information Processing Systems 2020, 2020

One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers.
Proceedings of the Advances in Neural Information Processing Systems 33: Annual Conference on Neural Information Processing Systems 2020, 2020

Online Monitoring for Neural Network Based Monocular Pedestrian Pose Estimation.
Proceedings of the 23rd IEEE International Conference on Intelligent Transportation Systems, 2020

LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments.
Proceedings of the Experimental Robotics - The 17th International Symposium, 2020

Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Shonan Rotation Averaging: Global Optimality by Surfing SO(p)<sup>n</sup>.
Proceedings of the Computer Vision - ECCV 2020, 2020

In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction From 2D Landmarks.
Proceedings of the 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2020

2019
Attention and Anticipation in Fast Visual-Inertial Navigation.
IEEE Trans. Robotics, 2019

Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models.
IEEE Robotics Autom. Lett., 2019

Accelerated Inference in Markov Random Fields via Smooth Riemannian Optimization.
IEEE Robotics Autom. Lett., 2019

Navion: A 2-mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones.
IEEE J. Solid State Circuits, 2019

SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group.
Int. J. Robotics Res., 2019

Sparse depth sensing for resource-constrained robots.
Int. J. Robotics Res., 2019

Optimal Computation-Communication Trade-offs in Processing Networks.
CoRR, 2019

A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates.
Proceedings of the Robotics: Science and Systems XV, 2019

Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities.
Proceedings of the International Conference on Robotics and Automation, 2019

Robot Co-design: Beyond the Monotone Case.
Proceedings of the International Conference on Robotics and Automation, 2019

A Quaternion-Based Certifiably Optimal Solution to the Wahba Problem With Outliers.
Proceedings of the 2019 IEEE/CVF International Conference on Computer Vision, 2019

2018
Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations.
Proceedings of the Handbook of Dynamic Data Driven Applications Systems., 2018

Data-Driven Prediction of Confidence for EVAR in Time-Varying Datasets.
Proceedings of the Handbook of Dynamic Data Driven Applications Systems., 2018

Convex Relaxations for Pose Graph Optimization With Outliers.
IEEE Robotics Autom. Lett., 2018

Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones.
CoRR, 2018

Control and Sensing Co-design.
CoRR, 2018

Navion: A Fully Integrated Energy-Efficient Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones.
Proceedings of the 2018 IEEE Symposium on VLSI Circuits, 2018

Visual-Inertial Navigation Algorithm Development Using Photorealistic Camera Simulation in the Loop.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Sensing-Constrained LQG Control.
Proceedings of the 2018 Annual American Control Conference, 2018

2017
On-Manifold Preintegration for Real-Time Visual-Inertial Odometry.
IEEE Trans. Robotics, 2017

Distributed mapping with privacy and communication constraints: Lightweight algorithms and object-based models.
Int. J. Robotics Res., 2017

Visual-Inertial Odometry on Chip: An Algorithm-and-Hardware Co-design Approach.
Proceedings of the Robotics: Science and Systems XIII, 2017


Supermodular mean squared error minimization for sensor scheduling in optimal Kalman Filtering.
Proceedings of the 2017 American Control Conference, 2017

2016
Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification.
IEEE Trans. Robotics, 2016

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age.
IEEE Trans. Robotics, 2016

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age.
CoRR, 2016

A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Multi Robot Object-Based SLAM.
Proceedings of the International Symposium on Experimental Robotics, 2016

Sparse sensing for resource-constrained depth reconstruction.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Distributed trajectory estimation with privacy and communication constraints: A two-stage distributed Gauss-Seidel approach.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Data-driven prediction of EVAR with confidence in time-varying datasets.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

2015
Quaternion-based EKF-SLAM from relative pose measurements: observability analysis and applications.
Robotica, 2015

Planning in the continuous domain: A generalized belief space approach for autonomous navigation in unknown environments.
Int. J. Robotics Res., 2015

On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation.
CoRR, 2015

Pose Graph Optimization in the Complex Domain: Lagrangian Duality, Conditions For Zero Duality Gap, and Optimal Solutions.
CoRR, 2015

IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

Exactly sparse memory efficient SLAM using the multi-block alternating direction method of multipliers.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Initialization techniques for 3D SLAM: A survey on rotation estimation and its use in pose graph optimization.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Duality-based verification techniques for 2D SLAM.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Structural Symmetries from Motion for Scene Reconstruction and Understanding.
Proceedings of the British Machine Vision Conference 2015, 2015

Rigid components identification and rigidity control in bearing-only localization using the graph cycle basis.
Proceedings of the American Control Conference, 2015

2014
From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization.
IEEE Trans. Robotics, 2014

Distributed Random Convex Programming via Constraints Consensus.
SIAM J. Control. Optim., 2014

Active SLAM and Exploration with Particle Filters Using Kullback-Leibler Divergence.
J. Intell. Robotic Syst., 2014

Supervision and monitoring of logistic spaces by a cooperative robot team: methodologies, problems, and solutions.
Intell. Serv. Robotics, 2014

A fast and accurate approximation for planar pose graph optimization.
Int. J. Robotics Res., 2014

Selecting good measurements via ℓ1 relaxation: A convex approach for robust estimation over graphs.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Planning under uncertainty in the continuous domain: A generalized belief space approach.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Uncertainty-constrained robot exploration: A mixed-integer linear programming approach.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Eliminating conditionally independent sets in factor graphs: A unifying perspective based on smart factors.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring.
Proceedings of the Intelligent Autonomous Systems 13, 2014

Scan Matching for Graph SLAM in Indoor Dynamic Scenarios.
Proceedings of the Twenty-Seventh International Florida Artificial Intelligence Research Society Conference, 2014

Mining Structure Fragments for Smart Bundle Adjustment.
Proceedings of the British Machine Vision Conference, 2014

2013
Towards Planning in Generalized Belief Space.
Proceedings of the Robotics Research, 2013

A convergence analysis for pose graph optimization via Gauss-Newton methods.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012
A Distributed Technique for Localization of Agent Formations From Relative Range Measurements.
IEEE Trans. Syst. Man Cybern. Part A, 2012

Distributed centroid estimation from noisy relative measurements.
Syst. Control. Lett., 2012

Graph Optimization with Unstructured Covariance: Fast, Accurate, Linear Approximation.
Proceedings of the Simulation, Modeling, and Programming for Autonomous Robots, 2012

2011
Simultaneous Localization and Mapping Using Rao-Blackwellized Particle Filters in Multi Robot Systems.
J. Intell. Robotic Syst., 2011

A Linear Approximation for Graph-based Simultaneous Localization and Mapping.
Proceedings of the Robotics: Science and Systems VII, 2011

A distributed algorithm for random convex programming.
Proceedings of the 5th International Conference on NETwork Games, COntrol and OPtimization, 2011

A first-order solution to simultaneous localization and mapping with graphical models.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Multi-agent localization from noisy relative pose measurements.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010
An application of Kullback-Leibler divergence to active SLAM and exploration with Particle Filters.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Rao-Blackwellized Particle Filters multi robot SLAM with unknown initial correspondences and limited communication.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Cooperative robotic teams for supervision and management of large logistic spaces: Methodology and applications.
Proceedings of 15th IEEE International Conference on Emerging Technologies and Factory Automation, 2010

Distributed optimization techniques for range localization in networked systems.
Proceedings of the 49th IEEE Conference on Decision and Control, 2010

A distributed Gauss-Newton approach for range-based localization of multi agent formations.
Proceedings of the 2010 IEEE International Symposium on Computer-Aided Control System Design, 2010

A distributed gradient method for localization of formations using relative range measurements.
Proceedings of the 2010 IEEE International Symposium on Computer-Aided Control System Design, 2010

2009
A comparative study on robust localization: Fault tolerance and robustness test on probabilistic filters for range-based positioning.
Proceedings of the 14th International Conference on Advanced Robotics, 2009


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