Technical Report: Pose Graph Optimization over Planar Unit Dual Quaternions: Improved Accuracy with Provably Convergent Riemannian Optimization

William D. Warke, J. Humberto Ramos, Prashant Ganesh +2

It is common in pose graph optimization (PGO) algorithms to assume that noise in the translations and rotations of relative pose measurements is uncorrelated. However, existing wor…