Publications

This page shows my research publications.

Implementing Robust M-Estimators with Certifiable Factor Graph Optimization Zhexin Xu, Hanna Zhang, Helena Calatrava, Pau Closas, David M. Rosen ICRA, 2026 arXiv     Code coming soon

Certifiable Estimation with Factor Graphs Zhexin Xu, Nikolas R. Sanderson, Hanna Zhang, and David M. Rosen Under review, 2025 arXiv     Code coming soon

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 Paper     Code