Handling Constrained Optimization in Factor Graphs for Autonomous Navigation.
Barbara BazzanaTiziano GuadagninoGiorgio GrisettiPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- constrained optimization
- autonomous navigation
- factor graphs
- mobile robot
- message passing
- graphical models
- latent variables
- belief propagation
- path planning
- approximate inference
- dynamic environments
- objective function
- probabilistic inference
- ego motion
- markov networks
- probabilistic model
- computer vision
- exact inference
- penalty function
- markov random field
- least squares
- scale space
- distributed systems
- parameter learning
- bayesian networks