A branch-and-bound based globally optimal solution to 2D multi-robot relative pose estimation problems.
Heng WangXinyu ZhaoShoudong HuangQing LiYiyang LiuPublished in: Autom. (2024)
Keyphrases
- branch and bound
- multi robot
- relative pose
- estimation problems
- optimal solution
- parameter estimation
- lower bound
- mobile robot
- path planning
- high dimensional
- search space
- point correspondences
- particle filter
- simultaneous localization and mapping
- state estimation
- np hard
- metaheuristic
- upper bound
- search algorithm
- objective function
- robotic systems
- real time
- combinatorial optimization
- em algorithm
- feature points
- motion model
- maximum likelihood
- simulated annealing
- computer vision