Publications

Implementing Robust M-Estimators with Certifiable Factor Graph Optimization

Zhexin Xu, Hanna Zhang, Helena Calatrava, Pau Closas, David M. Rosen

Under review at ICRA 2026,

Simplifying Certifiable Estimation: A Factor Graph Optimization Approach

Zhexin Xu, Nikolas R. Sanderson, and David M. Rosen

ICRA 2025 Workshop: Robotics in the Wild, 2025

Code