Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM.
Kevin J. DohertyDavid M. RosenJohn J. LeonardPublished in: CoRR (2022)
Keyphrases
- spectral decomposition
- mobile robot
- pose estimation
- simultaneous localization and mapping
- graph theory
- directed graph
- random walk
- normalized cut
- graph structure
- graph representation
- object pose
- dynamic environments
- initial state
- pose recovery
- spectral analysis
- pose variations
- laplacian matrix
- graph partitioning
- position and orientation
- computer vision
- rotation invariant
- hyperspectral
- bipartite graph
- visual slam
- d objects
- weak perspective projection
- indoor environments
- topological map
- invariant features
- weighted graph
- structured data
- object recognition
- face recognition