Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming.
Joshua G. MangelsonJinsun LiuRyan M. EusticeRam VasudevanPublished in: CoRR (2018)
Keyphrases
- globally optimal
- global optimality
- graph cuts
- locally optimal
- pose estimation
- planar graphs
- optimal decisions
- surface segmentation
- mobile robot
- d objects
- body pose
- dynamic environments
- position and orientation
- particle filter
- higher order
- sparse representation
- convex relaxation
- robot moves
- object recognition
- bounded treewidth
- theoretical guarantees
- surface reconstruction
- image registration
- dynamic programming