: link to paper (pdf), : link to slides, : link to website, : link to video : 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 ,
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.

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) (extended arxiv preprint: 1611.00128 )

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 )

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.
(supplemental material:

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 )

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 )

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.

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.

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. 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. (arxiv
preprint: 1207.6226 )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. 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. 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. 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. 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. 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.

Ph.D. Thesis

1.

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

Preprints / in preparation

1.

L. Carlone and S. Karaman, Attention and Anticipation in Fast Visual-Inertial Navigation, in
preparation, 2017. (arxiv preprint: 1610.03344 )

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: )

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 )

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: )

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: )

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) (arxiv preprint: 1611.00128 )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.
(supplemental material: 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. 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. 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. (supplemental material: )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. (direct link: )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. (supplemental material:
)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. 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. 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) (supplemental material: )

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. 17.L. Carlone and F. Dellaert, Duality-based Verification Techniques for 2D SLAM, Int. Conf. on Robotics
and Automation (ICRA), 2015. 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. 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. 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. (supplemental material: )21.L. Carlone, A. Censi, F. Dellaert, Selecting good measurements via ℓ₁ relaxation: a convex approach
for robust estimation over graphs, Int. Conf. on Intelligent RObots and Systems (IROS), 2014. 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. 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.
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. 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. 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.

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. 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. 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. 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. 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. 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. 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. 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