Published in IEEE Robotics and Automation Letters, vol. 11, no. 9, pp. 10377–10384, September 2026. DOI: 10.1109/LRA.2026.3710327. Authors: Shane Holmes, Yiran Luo, Firat Taxpulat, David M. Rosen, and Frank Dellaert Blog post by: Firat Taxp…
Author: Jash Shah Most 3D Gaussian Splatting SLAM systems optimize camera poses via gradient descent through a differentiable rasterizer. Some (e.g., LoopSplat) add loop closure through a separate pose graph, but the rendering objective its…
In the past couple years, a new type of foundation models called the Geometric Foundation Model (GFM) has been creating a lot of excitement for 3D scene reconstruction starting with initial works DUSt3R and MASt3R. GFMs take in uncalibrated…
Author: Kosuke Inoue, independent researcher Global Navigation Satellite System (GNSS) positioning is foundational to autonomous driving, surveying, and precision agriculture. Standard single-point positioning achieves meter-level accuracy,…
This third and final ICRA-week post zooms out to the broader global-solvers ecosystem. Part 1 focused on our chordal-sparsity work, which uses Bayes-tree structure to make SDP relaxations more scalable. Part 2 focused on David Rosen’s group…
Certifiable estimation is rapidly maturing as a practical tool for robust robotic perception and state estimation, enabling both fast and certifiably correct (i.e. verifiably globally optimal) inference. Frank’s companion post highlights on…
This post focuses on our chordal-sparsity paper, while last week’s post already covered CMC-Opt and our new legged-robot estimators, including Yetong Zhang’s workshop paper on constraint manifolds with corners. Both papers will be presented…
On June 1, I will be presenting CMC-Opt, new work by Yetong Zhang on constraint manifolds with corners, at the Frontiers of Optimization for Robotics workshop at ICRA. The paper is now available on arXiv: CMC-Opt: Constraint Manifold with C…
Authors: Connor Holmes, Sven Lilge, Zi Cong Guo, Frank Dellaert, and Timothy D. Barfoot In modern robotics, we often represent trajectories using discrete-time elements, but many real-world scenarios benefit from a continuous representation…
Author: Frank Dellaert and Yetong Zhang Quadratic programming is one of the quiet workhorses behind modern robot motion. In legged robot locomotion, QPs show up in contact-force allocation, whole-body control, and model-predictive control l…
Authors: Rohan Bansal and Frank Dellaert GTSAM Contributors: Jennifer Oum, Darshan Rajasekaran (ABC) and Rohan Bansal (EqVIO). EqVIO paper authors: Pieter van Goor and Robert Mahony. ABC-EqF paper authors: Alessandro Fornasier, Yonhon Ng, C…
Authors: Frank Dellaert and Rohan Bansal. GTSAM Contributors: Jennifer Oum, Darshan Rajasekaran, Alessandro Fornasier (on whose code our examples are based). Last week we zoomed out and talked about STAG: state, dynamics, measurements, obje…