238 citations · 387 across the 34 of their papers we have counts for
3 papers · 1 filter
Convex Relaxations for Pose Graph Optimization with Outliers
Luca Carlone, Giuseppe C. Calafiore
Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric…
Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions
Luca Carlone, David Rosen, Giuseppe Calafiore +2
State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these tec…
Pose Graph Optimization in the Complex Domain: Lagrangian Duality, Conditions For Zero Duality Gap, and Optimal Solutions
Giuseppe Calafiore, Luca Carlone, Frank Dellaert
Pose Graph Optimization (PGO) is the problem of estimating a set of poses from pairwise relative measurements. PGO is a nonconvex problem, and currently no known technique can guar…