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On-Manifold Preintegration for Real-Time Visual-Inertial Odometry
Christian Forster, Luca Carlone, Frank Dellaert +1
Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-time optimization quickly become…
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…