Cramér-Rao Bounds and Optimal Design Metrics for Pose-Graph SLAM.
Yongbo ChenShoudong HuangLiang ZhaoGamini DissanayakePublished in: IEEE Trans. Robotics (2021)
Keyphrases
- optimal design
- graph representation
- graph theory
- lower bound
- structural design
- water supply
- pose estimation
- d objects
- mobile robot
- weighted graph
- upper bound
- bipartite graph
- random walk
- structured data
- graph matching
- graph model
- indoor environments
- directed graph
- mobile robotics
- rao bound
- loop closing
- pose recovery
- spanning tree
- optimal solution
- simultaneous localization and mapping
- lower and upper bounds
- worst case
- evaluation metrics
- particle filter