Global Optimization for 2D SLAM Problem

DOI10.1007/978-3-319-03500-0_3MaRDI QIDQ5223311zbMATH OpenOpenAlexFDO

Authors Usman Qayyum, Jonghyuk Kim

Publication date 17 July 2019

Published in Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-319-03500-0_3

zbMATH Keywords

Gauss-Newton optimizationgreedy random adaptive search procedurelocal minimamap-joiningoptimal solution

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Stochastic programming (90C15) Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Least squares and related methods for stochastic control systems (93E24)

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Cites work

• scientific article; zbMATH DE number 2050708 (Why is no real title available?)
• scientific article; zbMATH DE number 1871407 (Why is no real title available?)
• Solving the sum-of-ratios problem by an interior-point method
• Square root SAM: simultaneous localization and mapping via square root information smoothing

Cited in

(6)

• Comparison of two different objective functions in 2D point feature SLAM
• Linear SLAM: linearising the SLAM problems using submap joining
• Dimensionality reduction for point feature SLAM problems with spherical covariance matrices
• The nonlinearity structure of point feature SLAM problems with spherical covariance matrices
• Lagrangian duality in complex pose graph optimization
• A branch-and-bound based globally optimal solution to 2D multi-robot relative pose estimation problems

Describes a project that uses

Uses Software

• g2o

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