Please see my Google Scholar for a full list of publications.
2023
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Verification and Synthesis of Robust Control Barrier Functions: Multilevel Polynomial Optimization and Semidefinite Relaxation
Kang, Shucheng, Chen, Yuxiao,
Yang, Heng, and Pavone, Marco
arXiv preprint arXiv:2303.10081 2023
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Object Pose Estimation with Statistical Guarantees: Conformal Keypoint Detection and Geometric Uncertainty Propagation
Yang, Heng, and Pavone, Marco
In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) 2023
10% of accepted papers, 2.5% of all submissions
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Optimal and Robust Category-level Perception: Object Pose and Shape Estimation from 2D and 3D Semantic Keypoints
Shi, Jingnan,
Yang, Heng, and Carlone, Luca
IEEE Transactions on Robotics 2023
2022
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Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization
Yang, Heng, and Carlone, Luca
IEEE Trans. Pattern Anal. Machine Intell. 2022
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An Inexact Projected Gradient Method with Rounding and Lifting by Nonlinear Programming for Solving Rank-One Semidefinite Relaxation of Polynomial Optimization
Yang, Heng, Liang, Ling, Carlone, Luca, and Toh, Kim-Chuan
Mathematical Programming 2022
2021
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Dynamical Pose Estimation
Yang, Heng, Doran, Chris, and Slotine, Jean-Jacques
In Intl. Conf. on Computer Vision (ICCV) 2021
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ROBIN: a graph-theoretic approach to reject outliers in robust estimation using invariants
Shi, Jingnan,
Yang, Heng, and Carlone, Luca
In IEEE Intl. Conf. on Robotics and Automation (ICRA) 2021
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Self-supervised geometric perception
Yang, Heng, Dong, Wei, Carlone, Luca, and Koltun, Vladlen
In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) 2021
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Outlier-robust estimation: Hardness, minimally tuned algorithms, and applications
Antonante, Pasquale, Tzoumas, Vasileios,
Yang, Heng, and Carlone, Luca
IEEE Transactions on Robotics 2021
2020
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One ring to rule them all: Certifiably robust geometric perception with outliers
Yang, Heng, and Carlone, Luca
Advances in neural information processing systems 2020
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Graduated non-convexity for robust spatial perception: From non-minimal solvers to global outlier rejection
Yang, Heng, Antonante, Pasquale, Tzoumas, Vasileios, and Carlone, Luca
IEEE Robotics and Automation Letters 2020
Best Paper Award in Robot Vision, ICRA 2020; Best Paper Award Honorable Mention, RAL 2020.
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Teaser: Fast and certifiable point cloud registration
Yang, Heng, Shi, Jingnan, and Carlone, Luca
IEEE Transactions on Robotics 2020
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In Perfect Shape: Certifiably Optimal 3D Shape Reconstruction from 2D Landmarks
Yang, Heng, and Carlone, Luca
In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) 2020
2019
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A quaternion-based certifiably optimal solution to the Wahba problem with outliers
Yang, Heng, and Carlone, Luca
In Proceedings of the IEEE/CVF International Conference on Computer Vision 2019
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