22 citations · 38 across the 6 of their papers we have counts for
4 papers · 1 filter
KernelGPA: A Globally Optimal Solution to Deformable SLAM in Closed-form
Fang Bai, Kanzhi Wu, Adrien Bartoli
We study the generalized Procrustes analysis (GPA), as a minimal formulation to the simultaneous localization and mapping (SLAM) problem. We propose KernelGPA, a novel global regis…
Procrustes Analysis with Deformations: A Closed-Form Solution by Eigenvalue Decomposition
Fang Bai, Adrien Bartoli
Generalized Procrustes Analysis (GPA) is the problem of bringing multiple shapes into a common reference by estimating transformations. GPA has been extensively studied for the Euc…
Sparse Pose Graph Optimization in Cycle Space
Fang Bai, Teresa Vidal-Calleja, Giorgio Grisetti
The state-of-the-art modern pose-graph optimization (PGO) systems are vertex based. In this context the number of variables might be high, albeit the number of cycles in the graph…
Efficient two step optimization for large embedded deformation graph based SLAM
Jingwei Song, Fang Bai, Liang Zhao +2
Embedded deformation nodes based formulation has been widely applied in deformable geometry and graphical problems. Though being promising in stereo (or RGBD) sensor based SLAM app…