Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM
In this work we present the first initialization methods equipped with explicit performance guarantees adapted to the pose-graph simultaneous localization and mapping (SLAM) and rotation averaging (RA) problems. SLAM and rotation averaging are typically formalized as large-scale nonconvex point esti...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024
|
| Online Access: | https://hdl.handle.net/1721.1/153755 |