SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group

SE-Sync: A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group

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Many important geometric estimation problems naturally take the form of synchronization over the special Euclidean group: estimate the values of a set of unknown poses given noisy measurements of a subset of their pairwise relative transforms. Examples of this class include the foundational problems...

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Bibliographic Details
Main Authors: Rosen, David M., Carlone, Luca, Bandeira, Afonso S., Leonard, John J.
Other Authors: John Leonard
Published: 2017
Subjects:
Simultaneous localization and mapping (SLAM)
Maximum-likelihood estimation
Convex relaxation
Low-rank semidefinite programming
Riemannian optimization
Online Access:http://hdl.handle.net/1721.1/106885

Internet

http://hdl.handle.net/1721.1/106885

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