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cs.RO2018
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…
cs.RO2015★ 5 cited
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…