Lagrangian Duality in Complex Pose Graph Optimization

DOI10.1007/978-3-319-42056-1_5zbMath1354.93097OpenAlexW2524584226MaRDI QIDQ2957706

Luca Carlone, Frank Dellaert, Giuseppe Carlo Calafiore

Publication date: 27 January 2017

Published in: Optimization and Its Applications in Control and Data Sciences (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-319-42056-1_5

zbMATH Keywords

maximum likelihood estimationdualitymobile robotsmotion estimationsimultaneous localization and mappingposition measurementrotation measurement

Mathematics Subject Classification ID

Semidefinite programming (90C22) Automated systems (robots, etc.) in control theory (93C85) Eigenvalue problems (93B60) Optimal stochastic control (93E20) Duality theory (optimization) (49N15)

Uses Software

• g2o
• iSAM2

Cites Work

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