Publications

Please see my Google Scholar for a full list of publications.

2023

  1. Preprint
    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
    PDF
  2. CVPR
    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
    PDF Video Highlight
  3. TRO
    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
    PDF

2022

  1. NeurIPS-W
    Conformal Semantic Keypoint Detection with Statistical Guarantees
    Yang, Heng, and Pavone, Marco
    In NeurIPS Workshop on Robot Learning: Trustworthy Robotics 2022
    PDF Supp
  2. TPAMI
    Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization
    Yang, Heng, and Carlone, Luca
    IEEE Trans. Pattern Anal. Machine Intell. 2022
    PDF Code
  3. Math. Program.
    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
    PDF Code News

2021

  1. ICCV
    Dynamical Pose Estimation
    Yang, Heng, Doran, Chris, and Slotine, Jean-Jacques
    In Intl. Conf. on Computer Vision (ICCV) 2021
    PDF Code
  2. ICRA
    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
    PDF
  3. CVPR
    Self-supervised geometric perception
    Yang, Heng, Dong, Wei, Carlone, Luca, and Koltun, Vladlen
    In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) 2021
    PDF Code
  4. RSS
    Optimal Pose and Shape Estimation for Category-level 3D Object Perception
    Shi, Jingnan,  Yang, Heng, and Carlone, Luca
    In Robotics: Science and Systems (RSS) 2021
    PDF Award
  5. TRO
    Outlier-robust estimation: Hardness, minimally tuned algorithms, and applications
    Antonante, Pasquale, Tzoumas, Vasileios,  Yang, Heng, and Carlone, Luca
    IEEE Transactions on Robotics 2021
    PDF Code

2020

  1. NeurIPS
    One ring to rule them all: Certifiably robust geometric perception with outliers
    Yang, Heng, and Carlone, Luca
    Advances in neural information processing systems 2020
    PDF Code
  2. RAL
    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
    PDF Code Award News
  3. TRO
    Teaser: Fast and certifiable point cloud registration
    Yang, Heng, Shi, Jingnan, and Carlone, Luca
    IEEE Transactions on Robotics 2020
    PDF Code
  4. CVPR
    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
    PDF

2019

  1. ICCV
    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
    PDF Code
  2. RSS
    A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates
    Yang, Heng, and Carlone, Luca
    In Robotics: Science and Systems (RSS) 2019
    PDF Code News