Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM.
Kevin J. DohertyDavid M. RosenJohn J. LeonardPublished in: ICRA (2022)
Keyphrases
- spectral decomposition
- pose estimation
- mobile robot
- graph theory
- object pose
- normalized cut
- laplacian matrix
- graph representation
- graph structure
- bipartite graph
- spectral methods
- initial state
- graph model
- directed graph
- random walk
- pose recovery
- simultaneous localization and mapping
- particle filter
- graph mining
- visual slam
- weak perspective projection
- adjacency matrix
- real time
- remote sensing
- structured data
- d objects
- k means