Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification.
Luca CarloneGiuseppe Carlo CalafioreCarlo TommolilloFrank DellaertPublished in: IEEE Trans. Robotics (2016)
Keyphrases
- optimal solution
- optimization algorithm
- planar graphs
- linear programming
- optimization problems
- graph theory
- pose estimation
- structured data
- d objects
- graph structure
- feasible solution
- global optimization
- random walk
- directed graph
- lower bound
- knapsack problem
- np hard
- optimization process
- graph model
- graph representation
- branch and bound
- point correspondences
- branch and bound algorithm
- solution space
- position and orientation
- spanning tree
- graph theoretic
- objective function