Publications

W. Talbot, J. Nubert, T. Tuna, C. Cadena, F. Dümbgen, J. Tordesillas, T. D. Barfoot, M. Hutter, Continuous-Time State Estimation Methods in Robotics: A Survey, under review, 2024.

[arXiv]

C. Holmes, F. Dümbgen, T. D. Barfoot, On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics, IEEE Transactions on Robotics, 2024.

[Details] [Paper] [arXiv]

Z. Guo, F. Dümbgen, J. Forbes, T. D. Barfoot, Data-Driven Batch Localization and SLAM Using Koopman Linearization, IEEE Transactions on Robotics, 2024.

[Details] [Paper] [arXiv]

A. Goudar, F. Dümbgen, T. D. Barfoot, A. Schoellig, Optimal Initialization Strategies for Range-Only Trajectory Estimation, IEEE Robotics and Automation Letters, 2024.

[Details] [Paper] [arXiv]

F. Dümbgen, C. Holmes, B. Agro, T. D. Barfoot, Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations, IEEE Transactions on Robotics, 2024.

[Details] [Paper] [arXiv] [Code]

F. Dümbgen, C. Holmes, T. D. Barfoot, Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization, Workshop on Algorithmic Foundations for Robotics, 2024.

[Details] [Paper] [arXiv] [Code]

T. D. Barfoot, C. Holmes, F. Dümbgen, Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map, International Journal of Robotics Research, 2024.

[Details] [Paper] [arXiv]

F. Dümbgen, C. Holmes, T. D. Barfoot, Safe and Smooth: Certified Continuous-Time Range-Only Localization, IEEE Robotics and Automation Letters, 2023.

[Details] [Paper] [arXiv] [Code]

F. Dümbgen, A. Hoffet, M. Mihailo Kolundžija, A. Scholefield, M. Vetterli, Blind as a Bat: Audible Echolocation on Small Robots, IEEE Robotics and Automation Letters, 2022.

[Details] [Paper] [arXiv] [Code]

M. Pacholska*, F. Dümbgen*, A. Scholefield, Relax and Recover : Guaranteed Range-Only Continuous Localization, IEEE Robotics and Automation Letters, 2020.

[Details] [Paper] [Code]

F. Dümbgen, M. El Helou, A. Scholefield, Realizability of Planar Point Embeddings from Angle Measurements, IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2020.

[Details] [Paper] [arXiv] [Video] [Code]

G. Baechler*, F. Dümbgen*, G. Elhami*, M. Krekovic*, M. Vetterli, Coordinate Difference Matrices, SIAM Journal on Matrix Analysis and Applications, 2020.

[Details] [Paper]

F. Dümbgen, C. Oeschger, M. Kolundzija, A. Scholefield, E. Girardin, J. Leuenberger, S. Ayer, Multi-Modal Probabilistic Indoor Localization on a Smartphone, International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2019. Shortlisted for best student paper award

[Details] [Paper]

F. Dümbgen*, M. El Helou*, N. Gucevska, S. Süsstrunk, Near-infrared fusion for photorealistic image dehazing, IS and T International Symposium on Electronic Imaging Science and Technology, 2018.

[Details] [Paper] [Code]

G. Baechler*, F. Dümbgen*, G. Elhami*, M. Krekovic*, R. Scheibler, A. Scholefield, M. Vetterli, Combining range and direction for improved localization, IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2018.

[Details] [Paper] [Code]