publications

2026

1. arXiv

   

   Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework

   Vassili Korotkine, Pierre Chamoun, Mohammed Ayman Shalaby, and 1 more author

   2026

   Submitted to Robotics & Automation Letters.

   DOI Bib PDF Code

   @misc{korotkine2026extendinggroundconstraintlidarimucalibration,
     title = {Extending Ground-Constraint LiDAR-IMU Calibration to Tilted Surfaces in a Continuous-Time Framework},
     author = {Korotkine, Vassili and Chamoun, Pierre and Shalaby, Mohammed Ayman and Forbes, James Richard},
     year = {2026},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     note = {Submitted to Robotics \& Automation Letters.},
     url = {https://arxiv.org/abs/2608.25135},
     selected = true,
     bibtex_show = true,
     code = https://github.com/vkorotkine/licalib_tilted_ground,
     doi = {arXiv:2608.25135}
   }

2025

1. RA-L

   

   Globally Optimal Data-Association-Free Landmark-Based Localization Using Semidefinite Relaxations

   Vassili Korotkine, Mitchell Cohen, and James Richard Forbes

   2025

   DOI Bib PDF Code

   @misc{korotkine2025globallyoptimaldataassociationfreelandmarkbased,
     title = {Globally Optimal Data-Association-Free Landmark-Based Localization Using Semidefinite Relaxations},
     author = {Korotkine, Vassili and Cohen, Mitchell and Forbes, James Richard},
     year = {2025},
     archiveprefix = {arXiv},
     primaryclass = {cs.RO},
     url = {https://arxiv.org/abs/2504.08547},
     selected = true,
     code = https://github.com/vkorotkine/certifiable_uda_loc,
     bibtex_show = true,
     doi = {arXiv:2504.08547},
   }

2024

1. RA-L

   

   A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares

   Vassili Korotkine, Mitchell Cohen, and James Richard Forbes

   IEEE Robotics and Automation Letters, 2024

   DOI Bib PDF Code

   @article{hessianKorotkine2024,
     author = {Korotkine, Vassili and Cohen, Mitchell and Forbes, James Richard},
     journal = {IEEE Robotics and Automation Letters},
     title = {A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares},
     year = {2024},
     volume = {9},
     number = {9},
     pages = {7891-7898},
     keywords = {Optimization;Simultaneous localization and mapping;Optimization methods;State estimation;Standards;Newton method;Jacobian matrices;Localization;optimization and optimal control;probabilistic inference;sensor fusion;SLAM},
     doi = {10.1109/LRA.2024.3432350},
     selected = true,
     code = https://github.com/decargroup/hessian_sum_mixtures,
     bibtex_show = true,
   }

2023

1. IROS

   

   navlie: A Python Package for State Estimation on Lie Groups

   Charles Champagne Cossette, Mitchell Cohen, Vassili Korotkine, and 3 more authors

   In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

   DOI Bib PDF Code

   @inproceedings{10342362,
     author = {Cossette, Charles Champagne and Cohen, Mitchell and Korotkine, Vassili and Del Castillo Bernal, Arturo and Shalaby, Mohammed Ayman and Forbes, James Richard},
     booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     title = {navlie: A Python Package for State Estimation on Lie Groups},
     year = {2023},
     volume = {},
     number = {},
     pages = {5282-5287},
     keywords = {Manifolds;Estimation error;Navigation;Prototypes;Libraries;State estimation;Task analysis;Localization;Sensor Fusion;Software Tools for Robot Programming},
     doi = {10.1109/IROS55552.2023.10342362},
     selected = true,
     code = https://github.com/decargroup/navlie/tree/main/navlie/utils,
     bibtex_show = true
   }

2022

1. RA-L

   Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems

   Zi Cong Guo, Vassili Korotkine, James R. Forbes, and 1 more author

   IEEE Robotics and Automation Letters, 2022

   DOI Bib PDF

   @article{9645374,
     author = {Guo, Zi Cong and Korotkine, Vassili and Forbes, James R. and Barfoot, Timothy D.},
     journal = {IEEE Robotics and Automation Letters},
     title = {Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems},
     year = {2022},
     volume = {7},
     number = {2},
     pages = {866-873},
     keywords = {Kernel;State estimation;Control systems;Robots;Training;Nonlinear systems;Training data;Localization;probabilistic inference},
     doi = {10.1109/LRA.2021.3133587},
     selected = true,
     bibtex_show = true
   }