Initialization of 3D pose graph optimization using Lagrangian duality.
Jesus BrialesJavier González JiménezPublished in: ICRA (2017)
Keyphrases
- optimization problems
- optimization algorithm
- graph theory
- pose estimation
- duality gap
- global optimization
- linear programming
- graph representation
- structured data
- dual formulation
- numerical methods
- optimal solution
- graph based algorithm
- nonlinear programming
- lagrange multipliers
- graph theoretic
- graph partitioning
- graph model
- graph mining
- constrained optimization
- weighted graph
- integer programming