Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions.
Luca CarloneDavid M. RosenGiuseppe Carlo CalafioreJohn J. LeonardFrank DellaertPublished in: IROS (2015)
Keyphrases
- optimal solution
- duality gap
- linear programming
- np hard
- model checking
- simultaneous localization and mapping
- feasible solution
- mobile robot
- objective function
- metaheuristic
- lower bound
- primal dual
- search space
- linear program
- branch and bound algorithm
- lagrangian relaxation
- visual slam
- branch and bound
- knapsack problem
- dual formulation
- augmented lagrangian
- formal verification
- solution space
- total cost
- solution quality
- face verification
- formal methods
- numerical methods
- indoor environments
- reinforcement learning
- monocular slam
- signature verification
- convex programming
- dynamic environments
- special case