Initialization techniques for 3D SLAM: A survey on rotation estimation and its use in pose graph optimization.
Luca CarloneRoberto TronKostas DaniilidisFrank DellaertPublished in: ICRA (2015)
Keyphrases
- optimization algorithm
- random walk
- graph structure
- pose estimation
- mobile robot
- rotation invariant
- structured data
- graph theory
- object pose
- graph mining
- partial occlusion
- optimization problems
- graph matching
- bipartite graph
- mean shift
- parameter estimation
- weighted graph
- d objects
- position and orientation
- graph representation
- closed form solutions
- robot navigation
- simultaneous localization and mapping
- k means