Cluster-based Penalty Scaling for Robust Pose Graph Optimization.
Fang WuGiovanni BeltramePublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- computer vision
- pose estimation
- partial occlusion
- global optimization
- illumination variations
- optimization algorithm
- robust recognition
- optimization problems
- optimization method
- weighted graph
- illumination invariance
- object pose
- graph representation
- directed graph
- graph structure
- graph mining
- structured data
- graph theoretic
- image sequences
- camera pose estimation
- image segmentation
- combinatorial optimization
- computationally efficient
- cluttered background
- d objects