Publication - escher

 

 

 

 

 

 

 

 

 

 

 

credits: M.S. Escher, Drawing hands.

  

 

 

PIC: link to paper (pdf), PIC: link to slides, PIC: link to website, PIC: link to video PIC: link to code

Selected Publications

1.
C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, On-Manifold Preintegration for Real-Time Visual-Inertial Odometry, IEEE Trans. on Robotics, 2016, accepted. (arxiv preprint: 1512.02363 PIC, conference version was best paper finalist at RSS 2015)
2.
L. Carlone, G. Calafiore, C. Tommolillo, F. Dellaert, Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification, IEEE Trans. on Robotics, 32(3):545-565, 2016. PIC PIC
3.
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, Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016. (best paper award) PIC (extended arxiv preprint: 1611.00128 PIC)
4.
L. Carlone and S. Karaman, Attention and Anticipation in Fast Visual-Inertial Navigation, Int. Conf. on Robotics and Automation (ICRA), accepted, 2017. (extended arxiv preprint: 1610.03344 PIC)
5.
F. Ma, L. Carlone, U. Ayaz, and S. Karaman, Sparse Sensing for Resource-Constrained Depth Reconstruction, Int. Conf. on Intelligent RObots and Systems (IROS), 2016. PIC PIC PIC (supplemental material: PIC

Journal papers

1.
C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, On-Manifold Preintegration for Real-Time Visual-Inertial Odometry, IEEE Trans. on Robotics, 2016, accepted. (arxiv preprint: 1512.02363 PIC)
2.
C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I.D. Reid, J.J. Leonard. Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age, IEEE Trans. on Robotics, 32(6):1309-1332, 2016. (arxiv preprint: 1606.05830 PIC)
3.
L. Carlone, G. Calafiore, C. Tommolillo, F. Dellaert, Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification, IEEE Trans. on Robotics, 32(3):545-565, 2016. PIC PIC
4.
V. Indelman, L. Carlone, F. Dellaert, Planning in the Continuous Domain: a Generalized Belief Space Approach for Autonomous Navigation in Unknown Environments, International Journal of Robotics Research, 34(7):849–882, 2015. PIC
5.
L. Carlone and A. Censi, From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation with Application to Pose Graph Optimization, IEEE Trans. on Robotics, 30(2):475–492, 2014. PIC PIC
6.
L. Carlone, V. Srivastava, F. Bullo, G. Calafiore, Distributed Random Convex Programming via Constraints Consensus, SIAM Journal on Control and Optimization, 52(1):629–662, 2014. PIC (arxiv preprint: 1207.6226 PIC)
7.
L. Carlone, R. Aragues, J. Castellanos, B. Bona, A Fast and Accurate Approximation for Planar Pose Graph Optimization, International Journal of Robotics Research, (33)7:965–987, 2014. PIC PIC PIC
8.
L. Carlone, V. Macchia, F. Tibaldi, B. Bona, Quaternion-based EKF-SLAM from Relative Pose Measurements: Observability Analysis and Applications, Robotica, 33(6):1250–1280, 2015. PIC
9.
R. Aragues, L. Carlone, G. Calafiore, C. Sagues, Distributed Centroid Estimation from Noisy Relative Measurements, Systems & Control Letters, 61(7):773–779, ISSN: 0167-6911, 2012. PIC
10.
G. Calafiore, L. Carlone, M. Wei, A Distributed Technique for Localization of Agent Formations from Relative Range Measurements, IEEE Transactions on Systems Man and Cybernetics, Part A - Systems and Humans, (42)5:1065–1076, ISSN: 1083-4427, 2012. PIC PIC
11.
B. Bona, L. Carlone, M. Indri, 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.
12.
L. Carlone, J. Du, M. Kaouk Ng, M. Indri, B. Bona, Active SLAM and Exploration with Particle Filters using Kullback-Leibler Divergence, Journal of Intelligent & Robotic Systems, 75(2):291–311, 2014. PIC
13.
L. Carlone, M. Kaouk Ng, J. Du, B. Bona, M. Indri, Simultaneous Localization and Mapping using Rao-Blackwellized Particle Filters in Multi Robot Systems, Journal of Intelligent and Robotic Systems, 63(2):283–307, 2011.

Book chapters

1.
G. Calafiore, L. Carlone, M. Wei, Sensor Fusion for Position Estimation in Networked Systems, in Sensor Fusion, Sciyo, ISBN: 978-953-307-101-5, 2010. PIC

Ph.D. Thesis

1.
L. Carlone, Nonlinear estimation techniques for autonomous navigation in single and multi robot systems, Politecnico di Torino, 2012. PIC

Preprints / in preparation

1.
L. Carlone and S. Karaman, Attention and Anticipation in Fast Visual-Inertial Navigation, in preparation, 2017. (arxiv preprint: 1610.03344 PIC)
2.
F. Ma, L. Carlone, U. Ayaz, and S. Karaman, Sparse Depth Sensing for Resource-Constrained Robot Perception, in preparation, 2017.
3.
S. Choudhary, L. Carlone, C. Nieto, J. Rogers, H.I. Christensen, F. Dellaert, Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models, in preparation, 2017.
4.
H-P. Chiu, L. Carlone, F. Dellaert, S. Samarasekera, R. Kumar, Plug-and-Play Navigation Using Factor Graphs, in preparation, 2017.
5.
L. Carlone, A. Axelrod, S. Karaman, G. Chowdhary, Aided Optimal Search: Data-Driven Target Pursuit from On-Demand Delayed Binary Observations, submitted, 2016. (preprint: PIC)

Conference papers

1.
L. Carlone and S. Karaman, Attention and Anticipation in Fast Visual-Inertial Navigation, Int. Conf. on Robotics and Automation (ICRA), accepted, 2017. (extended arxiv preprint: 1610.03344 PIC)
2.
P. Singh, M. Chen, L. Carlone, S. Karaman, E. Frazzoli, D. Hsu, Supermodular Mean Squared Error Minimization for Sensor Scheduling in Optimal Kalman Filtering, American Control Conference (ACC), accepted, 2017. (preprint: PIC)
3.
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, A. Censi, Duckietown: an Open, Inexpensive and Flexible and Capable Platform for Autonomy Education and Research, Int. Conf. on Robotics and Automation (ICRA), accepted, 2017. (preprint: PIC)
4.
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, Workshop on the Algorithmic Foundations of Robotics (WAFR), 2016. (best paper award) PIC (arxiv preprint: 1611.00128 PIC)
5.
F. Ma, L. Carlone, U. Ayaz, and S. Karaman, Sparse Sensing for Resource-Constrained Depth Reconstruction, Int. Conf. on Intelligent RObots and Systems (IROS), 2016. PIC PIC PIC (supplemental material: PIC
6.
S. Choudhary, L. Carlone, C. Nieto, J. Rogers, Z. Liu, H.I. Christensen, and F. Dellaert, Multi Robot Object-based SLAM, Int. Symposium on Experimental Robotics (ISER), 2016. PIC PIC PIC PIC PIC
7.
A. Axelrod, L. Carlone, G. Chowdhary, and S. Karaman, Data-driven Prediction of EVAR with Confidence in Time-varying Datasets, Int. Conf. on Decision and Control (CDC), 2016.
8.
S. Choudhary, L. Carlone, C. Nieto, J. Rogers, H.I. Christensen, F. Dellaert, Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel Approach, Int. Conf. on Robotics and Automation (ICRA), 2016. PIC PIC
9.
L. Carlone, D.M. Rosen, G.C. Calafiore, J.J. Leonard, F. Dellaert, Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions, Int. Conf. on Intelligent RObots and Systems (IROS), 2015. PIC PIC PIC (supplemental material: PIC)
10.
S. Choudhary, L. Carlone, H.I. Christensen, F. Dellaert, Exactly Sparse Memory Efficient SLAM using the Multi-Block Alternating Direction Method of Multipliers, Int. Conf. on Intelligent RObots and Systems (IROS), 2015. PIC PIC PIC (direct link: PIC)
11.
S. Rosa, L.O. Russo, G.A. Farulla, L. Carlone, R. Antonini, G. Marco, B. Bona, An Application of Laser-Based Autonomous Navigation for Data-Center Monitoring, Intelligent Autonomous Systems 13: Proceedings of the 13th International Conference IAS-13, Volume 302 of the series Advances in Intelligent Systems and Computing, pp. 95–107, 2015.
12.
N. Srinivasan, L. Carlone, F. Dellaert, Structural Symmetries from Motion for Scene Reconstruction and Understanding, British Machine Vision Conference (BMVC), 2015. PIC PIC (supplemental material: PIC)
13.
L. Carlone, G. Calafiore, F. Dellaert, Pose Graph Optimization in the Complex Domain: Lagrangian Duality and Optimal Solutions, Robotics: Science and Systems (RSS), Workshop “Reviewing the review process”, 2015. PIC PIC
14.
R. Tron, D. Rosen, L. Carlone, On the Inclusion of Determinant Constraints in Lagrangian Duality for 3D SLAM, Robotics: Science and Systems (RSS), Workshop “The problem of mobile sensors: Setting future goals and indicators of progress for SLAM”, 2015. PIC
15.
C. Forster, L. Carlone, F. Dellaert, D. Scaramuzza, IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation, Robotics: Science and Systems (RSS), 2015. (finalist for best paper award) PIC (supplemental material: PIC) PIC
16.
L. Carlone, J. Dong, S. Fenu, G. C. Rains, F. Dellaert, Towards 4D Crop Analysis in Precision Agriculture: Estimating Plant Height and Crown Radius over Time via Expectation-Maximization, Int. Conf. on Robotics and Automation (ICRA), Workshop on Robotics in Agriculture, 2015. PIC PIC
17.
L. Carlone and F. Dellaert, Duality-based Verification Techniques for 2D SLAM, Int. Conf. on Robotics and Automation (ICRA), 2015. PIC PIC
18.
L. Carlone, R. Tron, K. Daniilidis, F. Dellaert, Initialization Techniques for 3D SLAM: a Survey on Rotation Estimation and its Use in Pose Graph Optimization, Int. Conf. on Robotics and Automation (ICRA), 2015. PIC PIC
19.
R. Tron, L. Carlone, F. Dellaert, K. Daniilidis, Rigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basis, American Control Conference (ACC), 2015. PIC
20.
L. Carlone, P. Alcantarilla, H. Chiu, K. Zsolt, F. Dellaert, Mining structure fragments for smart bundle adjustment, British Machine Vision Conference (BMVC), accepted as oral presentation (acceptance rate 7.7%), 2014. PIC (supplemental material: PIC)
21.
L. Carlone, A. Censi, F. Dellaert, Selecting good measurements via 1 relaxation: a convex approach for robust estimation over graphs, Int. Conf. on Intelligent RObots and Systems (IROS), 2014. PIC
22.
J. Dong, L. Carlone, G.C. Rains, T. Coolong, F. Dellaert, 4D Mapping of fields using autonomous ground and aerial vehicles, CSBE/ASABE Joint Meeting Presentation, 2014. PIC
23.
L. Carlone and D. Lyons, Uncertainty-constrained robot exploration: a mixed-integer linear programming approach, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2014. PIC PIC
24.
V. Indelman, L. Carlone, F. Dellaert, Planning under uncertainty in the continuous domain: a generalized belief space approach, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2014. PIC PIC
25.
L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert, Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2014.
26.
H. Chiu, X. Zhou, L. Carlone, F. Dellaert, S. Samarasekera, R. Kumar, Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), 2014.
27.
V. Indelman, L. Carlone, F. Dellaert, Towards planning in generalized belief space, in Proc. of the Int. Symposium on Robotics Research (ISRR), 2013. PIC PIC
28.
L. Carlone, Convergence analysis of pose graph optimization via Gauss-Newton methods, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 965-972, ISBN: 978146735641-1, 2013. PIC
29.
L. Carlone, J. Yin, S. Rosa, Z. Yuan, Graph optimization with unstructured covariance: fast, accurate, linear approximation, in Proc. of the Int. Conf. on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2012.
30.
L. Carlone, V. Macchia, F. Tibaldi, B. Bona, Robot localization and 3D mapping: observability analysis and applications, in Proc. of the Int. Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), 2012.
31.
L. Carlone, V. Srivastava, F. Bullo, G. Calafiore, A distributed algorithm for random convex programming, in Proc. of the Int. Conf. on NETwork Games, COntrol and OPtimization (NETGCOOP), pp. 1-7, ISBN: 9781467303835, 2011. PIC
32.
L. Carlone, R. Aragues, J.A. Castellanos, B. Bona, A linear approximation for graph-based simultaneous localization and mapping, in Proc. of the Int. Conf. Robotics: Science and Systems (RSS), available online http://www.roboticsproceedings.org/rss07/p06.html, pp. 41-48, 2011. PIC PIC PIC
33.
L. Carlone, R. Aragues, J.A. Castellanos, B. Bona, A first-order solution to simultaneous localization and mapping with graphical models, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1764-1771, ISBN: 9781612843865, 2011.
34.
R. Aragues, L. Carlone, G. Calafiore, C. Sagues, Multi agent localization from noisy relative pose measurements, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 364-369, ISBN: 9781612843865, 2011. PIC
35.
J. Du, L. Carlone, M. Kaouk Ng, M., B. Bona, M. Indri, A comparative study on active SLAM and autonomous exploration with Particle Filters, in Proc. of the IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics (AIM), pp. 916-923, ISBN: 9781457708381, 2011.
36.
L. Carlone and B. Bona, On registration of uncertain three-dimensional vectors with application to robotics, in Proc. of the 18th IFAC World Congress, pp. 8150-8158, ISBN: 9783902661937, 2011.
37.
G. Calafiore, L. Carlone, M. Wei, Distributed optimization techniques for range localization in networked systems, in Proc. of the IEEE Conference on Decision and Control (CDC), pp. 2221-2226. ISBN: 9781424477456, 2010. PIC
38.
F. Abrate, B. Bona, M. Indri, L. Carlone, Cooperative robotic teams for supervision and management of large logistic spaces: methodology and applications, in Proc. of the 15th IEEE Int. Conf. on Emerging Technologies and Factory Automation (ETFA), pp. 1-8, ISBN: 9781424468485, 2010.
39.
L. Carlone, R. Micalizio, G. Nuzzolo, E. Scala, D. Tedone, STEPS (Sistemi e Tecnologie per l’EsPlorazione Spaziale): Predictive and Command System (PCS), results on 1st Demonstration, in Proc. of the 40th Int. Conf. on Environmental Systems (ICES), 2010.
40.
L. Carlone, J. Du, M. Kaouk Ng, B. Bona, M. Indri, An application of Kullback-Leibler Divergence to active SLAM and exploration with Particle Filters, in Proc. of the IEEE/RSJ Int. Conf. on Intelligent RObots and Systems (IROS), pp. 287-293, ISBN: 9781424466740, 2010.
41.
G. Calafiore, L. Carlone, M. Wei, A distributed Gauss-Newton approach for range-based localization of multi agent formations, in Proc. of the 2010 IEEE Multi-Conference on Systems and Control (MSC), pp. 1152-1157, ISBN: 9781424453542, 2010. PIC
42.
G. Calafiore, L. Carlone, M. Wei, A distributed gradient method for localization of formations using relative range measurements, in Proc. of the 2010 IEEE Multi- Conference on Systems and Control (MSC), pp. 1146-1151, ISBN: 9781424453542, 2010. PIC
43.
G. Calafiore, L. Carlone, M. Wei, Position estimation from relative distance measurements in multi-agents formations, in Proc. of the 18th Mediterranean Conf. on Control and Automation (MED), pp. 148-153, ISBN: 9781424480913, 2010. PIC
44.
G. Calafiore, L. Carlone, M. Wei, Network localization from range measurements: algorithms and numerical experiments, in Proc. of the Int. Conf. on Cybernetics & Intelligent Systems, Int. Conf. on Robotics, Automation & Mechatronics, pp. 225-230, ISBN: 9781424464999, 2010.
45.
V. Macchia, S. Rosa, L. Carlone, B. Bona, An application of omnidirectional vision to grid-based SLAM in indoor environments, in Proc. of the 2010 Int. Conf. on Robotics and Automation (ICRA), Workshop on Omnidirectional Robot Vision, ISBN: 9788895872025, 2010.
46.
L. Carlone, M. Kaouk Ng, J. Du, B. Bona, M.Indri, Rao-Blackwellized Particle Filters multi robot SLAM with unknown initial correspondences and limited communication, in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 243-249, ISBN: 9781424450381, 2010.
47.
L. Carlone, M. Kaouk Ng, J. Du, B. Bona, M. Indri, Reverse KLD-Sampling for measuring uncertainty in Rao-Blackwellized Particle Filters SLAM, in Proc. of the IEEE/RSJ Int. Conf. on Intelligent RObots and Systems (IROS), Workshop on Performance Evaluation and Benchmarking for Next Intelligent Robots and Systems, 2009.
48.
L. Carlone and B. Bona, A comparative study on robust localization: fault tolerance and robustness test on probabilistic filters for range-based positioning, in Proc. of the 14th Int. Conf. on Advanced Robotics (ICAR), pp. 1-8, ISBN: 9781424448555, 2009.
49.
L. Carlone and B. Bona, Preliminary results on robust global localization: fault tolerance and robustness test on Probabilistic Shaping, in Proc. of 9th Conf. on Autonomous Robot Systems and Competitions, pp. 27-33, ISBN: 9788208972, 2009.
50.
L. Carlone and B. Bona, Probabilistic Shaping with Radial Gaussian: a probabilistic approach to 2D and 3D robotic multilateration, in Proc. of the Israeli Conf. of Robotics, 2008.

Patents

1.
M. Bianchi, L. Carlone, D. Girlando, A. Mangone, I. Belmonte, B. Bona, A. Bonarini, M. Matteucci, Apparato di illuminazione robotizzato e metodo di comando, IT MI20091066, Priority: 16/6/2009, Publication: 17/12/2010.
2.
D. Girlando, A. Mangone, L. Carlone, M. Bianchi, A. Bonarini, B. Bona, M. Matteucci, I. Belmonte, Robotized lighting apparatus and control method, WO2010146446, Priority: 16/6/2009, Publication: 23/12/2010.

Last updated: February 3, 2017