2 papers
cs.RO2025
Barrier Method for Inequality Constrained Factor Graph Optimization with Application to Model Predictive Control
Anas Abdelkarim, Holger Voos, Daniel Görges
Factor graphs have demonstrated remarkable efficiency for robotic perception tasks, particularly in localization and mapping applications. However, their application to optimal con…
eess.SY2025
ecg2o: A Seamless Extension of g2o for Equality-Constrained Factor Graph Optimization
Anas Abdelkarim, Holger Voos, Daniel Görges
Factor graph optimization serves as a fundamental framework for robotic perception, enabling applications such as pose estimation, simultaneous localization and mapping (SLAM), str…