Bayesian Pose Graph Optimization via Bingham Distributions and Tempered Geodesic MCMC

Tolga Birdal, Umut Şimşekli, M. Onur Eken +1

We introduce Tempered Geodesic Markov Chain Monte Carlo (TG-MCMC) algorithm for initializing pose graph optimization problems, arising in various scenarios such as SFM (structure f…