Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming.
Joshua G. MangelsonJinsun LiuRyan M. EusticeRam VasudevanPublished in: ICRA (2019)
Keyphrases
- globally optimal
- global optimality
- graph cuts
- planar graphs
- locally optimal
- optimal decisions
- mobile robot
- surface segmentation
- pose estimation
- convex relaxation
- indoor environments
- body pose
- simultaneous localization and mapping
- window search
- binary matrices
- bounded treewidth
- data association
- graph matching
- image registration
- d objects
- mobile robotics
- multi label
- facial expressions
- image processing
- decision making