Maurizio Monge — accepted AI-conference papers

2025

Benchmarking Egocentric Visual-Inertial SLAM at City Scale

Anusha Krishnan, Shaohui Liu, Paul-Edouard Sarlin, Oscar Gentilhomme, David Caruso, Maurizio Monge +3

ICCV 2025poster

Precise 6-DoF simultaneous localization and mapping (SLAM) from onboard sensors is critical for wearable devices capturing egocentric data, which exhibits specific challenges, such as a wider diversity of motions and viewpoints, prevalent dynamic visual content, or long sessions affected by time-var…

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2023

Decentralization and Acceleration Enables Large-Scale Bundle Adjustment

Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd Murphey +1

RSS 2023poster

Scaling to arbitrarily large bundle adjustment problems requires data and compute to be distributed across multiple devices. Centralized methods in prior works are only able to solve small or medium size problems due to overhead in computation and communication. In this paper, we present a fully dec…

Cited by 4 Source ↗PDF ↗code ↗Scholar ↗

2022

Theseus: A Library for Differentiable Nonlinear Optimization

Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky T. Q. Chen +7

NeurIPS 2022accept

We present Theseus, an efficient application-agnostic open source library for differentiable nonlinear least squares (DNLS) optimization built on PyTorch, providing a common framework for end-to-end structured learning in robotics and vision. Existing DNLS implementations are application specific an…

Cited by 107 Source ↗PDF ↗Scholar ↗