Lagrangian duality in complex pose graph optimization

DOI10.1007/978-3-319-42056-1_5MaRDI QIDQ2957706zbMATH OpenOpenAlexFDO

Authors Luca Carlone, Giuseppe Calafiore, F. Dellaert

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

dualitymaximum likelihood estimationmobile robotsmotion estimationposition measurementrotation measurementsimultaneous localization and mapping

Mathematics Subject Classification ID

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

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Cites work

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• scientific article; zbMATH DE number 2107836 (Why is no real title available?)
• On frame and orientation localization for relative sensing networks
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• Rotation averaging
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• Wide-sense estimation on the special orthogonal group
• Wireless sensor network localization techniques

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• g2o
• iSAM2

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