Advances in inference and representation for simultaneous localization and mapping
DM Rosen, KJ Doherty… - Annual Review of …, 2021 - annualreviews.org
Simultaneous localization and mapping (SLAM) is the process of constructing a global
model of an environment from local observations of it; this is a foundational capability for …
model of an environment from local observations of it; this is a foundational capability for …
Distributed certifiably correct pose-graph optimization
This article presents the first certifiably correct algorithm for distributed pose-graph
optimization (PGO), the backbone of modern collaborative simultaneous localization and …
optimization (PGO), the backbone of modern collaborative simultaneous localization and …
Hybrid rotation averaging: A fast and robust rotation averaging approach
We address rotation averaging (RA) and its application to real-world 3D reconstruction.
Local optimisation based approaches are the de facto choice, though they only guarantee a …
Local optimisation based approaches are the de facto choice, though they only guarantee a …
Block coordinate descent on smooth manifolds: Convergence theory and twenty-one examples
Block coordinate descent is an optimization paradigm that iteratively updates one block of
variables at a time, making it quite amenable to big data applications due to its scalability …
variables at a time, making it quite amenable to big data applications due to its scalability …
Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization
In recent years, many estimation problems in robotics have been shown to be solvable to
global optimality using their semidefinite relaxations. However, the runtime complexity of off …
global optimality using their semidefinite relaxations. However, the runtime complexity of off …
Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization
This paper explores the distance-based relative state estimation problem in large-scale
systems, which is hard to solve effectively due to its high-dimensionality and non-convexity …
systems, which is hard to solve effectively due to its high-dimensionality and non-convexity …
[PDF][PDF] Block-coordinate descent on the riemannian staircase for certifiably correct distributed rotation and pose synchronization
This paper presents the first certifiably correct solver for distributed rotation and pose
synchronization, the backbone of modern collaborative simultaneous localization and …
synchronization, the backbone of modern collaborative simultaneous localization and …
Algorithms and Systems for Scalable Multi-Agent Geometric Estimation
Y Tian - 2023 - dspace.mit.edu
Collaborative geometric estimation, which enables multiple agents to construct globally
consistent geometric models of the environment (eg, maps and robot poses) from noisy local …
consistent geometric models of the environment (eg, maps and robot poses) from noisy local …
Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging
Estimating unknown rotations from noisy measurements is an important step in SfM and
other 3D vision tasks. Typically, local optimization methods susceptible to returning …
other 3D vision tasks. Typically, local optimization methods susceptible to returning …