Yulun Tian

Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups

Jaeho Shin, Maani Ghaffari, Yulun Tian

Modern robotic perception increasingly involves large-scale geometric optimization problems distributed across multiple robots or sessions. However, existing distributed solvers often depend on brittle hand tuning and primarily target rigid body pose graphs. To address this, we p…Read more