Lagrangian Duality in 3D SLAM: Verification Techniques and Optimal Solutions.
Luca CarloneDavid M. RosenGiuseppe Carlo CalafioreJohn J. LeonardFrank DellaertPublished in: CoRR (2015)
Keyphrases
- optimal solution
- duality gap
- linear programming
- np hard
- mobile robot
- linear program
- metaheuristic
- feasible solution
- model checking
- simultaneous localization and mapping
- solution quality
- set covering problem
- lower bound
- primal dual
- dual formulation
- total cost
- dynamic environments
- search space
- branch and bound
- knapsack problem
- objective function
- augmented lagrangian
- formal verification
- mobile robotics
- convex programming
- face verification
- indoor environments
- branch and bound algorithm
- particle filter
- visual slam
- real time
- object and scene recognition
- integer programming
- genetic algorithm
- signature verification
- efficient solutions
- state space
- object recognition