News

Sun, 07/11/2021

I am happy to be selected as one of the 30 Pioneers at Robotics: Science and Systems (RSS) 2021, for my research on "certifiable outlier-robust machine perception".

Check out the full list of Pioneers here:

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Thu, 06/03/2021

The paper "Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection" has won an IEEE Robotics and Automation Letters Best Paper Award Honorable Mention. Joint work with Pasquale Antonante, Vasileios Tzoumas, and Luca Carlone.

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Thu, 05/20/2021

I gave an invited talk at Imperial College London MatchLab on "Self-supervised Geometric Perception".

Slides are available here.

Wed, 05/12/2021

Our paper "Optimal Pose and Shape Estimation for Category-level 3D Object Perception" has been accepted for publication at Robotics: Science and Systems, 2021. Joint work with Jingnan Shi and Luca Carlone. Check out the preprint here:

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Wed, 05/05/2021

I gave a guest lecture "Certifiable Outlier-Robust Machine Perception" at the undergraduate course "Robotics: Science and Systems" at MIT (Instructor: Prof. Luca Carlone). Here is a pdf version...

Thu, 04/29/2021

I gave a guest lecture "Certifiable Outlier-Robust Machine Perception" at the graduate course "Visual Navigation for Autonomous Aerial Vehicles (VNA2V, AEROSP 740)" in University of Michigan, Ann Arbor (Instructor: Prof. Vasileios Tzoumas).

Wed, 03/10/2021

How is rigid body dynamics connected to computer vision?

In our new preprint, we introduce dynamical pose estimation, the first general and practical framework for solving a class of pose estimation problems in computer vision by simulating rigid body dynamics arising from virtual springs...

Fri, 03/05/2021

Self-supervised Geometric Perception, joint work with W. Dong, L. Carlone and V. Koltun has been accepted as an oral presentation in CVPR 2021.

Paper: https://arxiv.org/abs/2103.03114

Code: ...

Sun, 02/28/2021

The paper ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants has been accepted to be published and presented at International Conference on Robotics and Automation (ICRA), 2021.

Mon, 11/16/2020

Very happy to be a coauthor of Jingnan Shi's nice preprint about ROBIN, which applies invariance and graph theory to prune outliers in robot perception (like a charm)! Looking forward to exploring more applications of ROBIN.

Paper: https://...