Kernel-GPA: A globally optimal solution to deformable SLAM in closed-form.
Fang BaiKanzhi WuAdrien BartoliPublished in: Int. J. Robotics Res. (2024)
Keyphrases
- closed form
- iterative procedure
- optimal solution
- object and scene recognition
- kernel function
- kernel methods
- simultaneous localization and mapping
- mobile robot
- point correspondences
- objective function
- particle filter
- global optimality
- closed form expressions
- feature space
- generalized gaussian density
- special case
- wavelet transform
- graphical models
- rigid motion
- image sequences