A fast and accurate approximation for planar pose graph optimization
暂无分享,去创建一个
Basilio Bona | Luca Carlone | Rosario Aragues | José A. Castellanos | J. A. Castellanos | L. Carlone | B. Bona | Rosario Aragues
[1] Basilio Bona,et al. A first-order solution to simultaneous localization and mapping with graphical models , 2011, 2011 IEEE International Conference on Robotics and Automation.
[2] Sebastian Thrun,et al. The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures , 2006, Int. J. Robotics Res..
[3] Bernhard P. Wrobel,et al. Multiple View Geometry in Computer Vision , 2001 .
[4] Frank Dellaert,et al. iSAM2: Incremental smoothing and mapping using the Bayes tree , 2012, Int. J. Robotics Res..
[5] Klamer Schutte,et al. Efficient trajectory bending with applications to loop closure , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[6] Frank Dellaert,et al. iSAM: Incremental Smoothing and Mapping , 2008, IEEE Transactions on Robotics.
[7] Wolfram Burgard,et al. Nonlinear Constraint Network Optimization for Efficient Map Learning , 2009, IEEE Transactions on Intelligent Transportation Systems.
[8] Luca Carlone,et al. Graph Optimization with Unstructured Covariance: Fast, Accurate, Linear Approximation , 2012, SIMPAR.
[9] Frank Dellaert,et al. Subgraph-preconditioned conjugate gradients for large scale SLAM , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[10] Luca Carlone,et al. From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization , 2012, IEEE Transactions on Robotics.
[11] Kurt Mehlhorn,et al. Cycle bases in graphs characterization, algorithms, complexity, and applications , 2009, Comput. Sci. Rev..
[12] Frank Dellaert,et al. iSAM2: Incremental smoothing and mapping with fluid relinearization and incremental variable reordering , 2011, 2011 IEEE International Conference on Robotics and Automation.
[13] Edwin Olson,et al. Inference on networks of mixtures for robust robot mapping , 2013, Int. J. Robotics Res..
[14] Charles R. Johnson,et al. Matrix analysis , 1985, Statistical Inference for Engineers and Data Scientists.
[15] Michael Bosse,et al. Keypoint design and evaluation for place recognition in 2D lidar maps , 2009, Robotics Auton. Syst..
[16] Roland Siegwart,et al. Improved appearance-based matching in similar and dynamic environments using a Vocabulary tree , 2010, 2010 IEEE International Conference on Robotics and Automation.
[17] W. K. Chen. Graph theory and its engineering applications , 1997 .
[18] Andrew W. Fitzgibbon,et al. Bundle Adjustment - A Modern Synthesis , 1999, Workshop on Vision Algorithms.
[19] Tomás Pajdla,et al. Robust Rotation and Translation Estimation in Multiview Reconstruction , 2007, 2007 IEEE Conference on Computer Vision and Pattern Recognition.
[20] W. Burgard,et al. RAWSEEDS: Robotics Advancement through Web-publishing of Sensorial and Elaborated Extensive Data Sets , 2010 .
[21] Gamini Dissanayake,et al. How far is SLAM from a linear least squares problem? , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[22] J. Hespanha,et al. Estimation on graphs from relative measurements , 2007, IEEE Control Systems.
[23] Brett Browning,et al. Orientation only loop-closing with closed-form trajectory bending , 2012, 2012 IEEE International Conference on Robotics and Automation.
[24] Wolfram Burgard,et al. Efficient Sparse Pose Adjustment for 2D mapping , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[25] Evangelos E. Milios,et al. Globally Consistent Range Scan Alignment for Environment Mapping , 1997, Auton. Robots.
[26] E. Olson. Fast iterative alignment of pose graphs with poor estimates , 2006 .
[27] John J. Leonard,et al. An incremental trust-region method for Robust online sparse least-squares estimation , 2012, 2012 IEEE International Conference on Robotics and Automation.
[28] Kurt Konolige,et al. Large-Scale Map-Making , 2004, AAAI.
[29] Carl D. Meyer,et al. Matrix Analysis and Applied Linear Algebra , 2000 .
[30] Cyrill Stachniss,et al. Hierarchical optimization on manifolds for online 2D and 3D mapping , 2010, 2010 IEEE International Conference on Robotics and Automation.
[31] Andrew Owens,et al. Discrete-continuous optimization for large-scale structure from motion , 2011, CVPR.
[32] Dario Lodi Rizzini. A Closed-Form Constraint Networks Solver for Maximum Likelihood Mapping , 2009, ECMR.
[33] Wolfram Burgard,et al. G2o: A general framework for graph optimization , 2011, 2011 IEEE International Conference on Robotics and Automation.
[34] Frank Dellaert,et al. Linear 2D localization and mapping for single and multiple robot scenarios , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).
[35] Venu Madhav Govindu,et al. Lie-algebraic averaging for globally consistent motion estimation , 2004, Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004. CVPR 2004..
[36] Jonathan L. Gross,et al. Topological Graph Theory , 1987, Handbook of Graph Theory.
[37] Takeo Kanade,et al. Affine structure from line correspondences with uncalibrated affine cameras , 1997, IEEE Trans. Pattern Anal. Mach. Intell..
[38] João Pedro Hespanha,et al. Optimal estimation on the graph cycle space , 2010, Proceedings of the 2010 American Control Conference.
[39] Hugh F. Durrant-Whyte,et al. Simultaneous localization and mapping: part I , 2006, IEEE Robotics & Automation Magazine.
[40] J. Mendel. Lessons in Estimation Theory for Signal Processing, Communications, and Control , 1995 .
[41] Niko Sünderhauf,et al. Towards a robust back-end for pose graph SLAM , 2012, 2012 IEEE International Conference on Robotics and Automation.
[42] Basilio Bona,et al. A Linear Approximation for Graph-based Simultaneous Localization and Mapping , 2011, Robotics: Science and Systems.
[43] Hugh Durrant-Whyte,et al. Simultaneous localization and mapping (SLAM): part II , 2006 .
[44] Sang Wook Lee,et al. Multiview registration of 3D scenes by minimizing error between coordinate frames , 2002, IEEE Transactions on Pattern Analysis and Machine Intelligence.
[45] Joao P. Hespanha,et al. Estimation and control with relative measurements: algorithms and scaling laws , 2007 .
[46] Edwin Olson,et al. Fast iterative alignment of pose graphs with poor initial estimates , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..
[47] Cyrill Stachniss,et al. On measuring the accuracy of SLAM algorithms , 2009, Auton. Robots.
[48] Heng Wang,et al. On the Structure of Nonlinearities in Pose Graph SLAM , 2012, Robotics: Science and Systems.
[49] Fabio Tozeto Ramos,et al. Robust place recognition with stereo cameras , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.
[50] Tom Duckett,et al. A multilevel relaxation algorithm for simultaneous localization and mapping , 2005, IEEE Transactions on Robotics.
[51] Luca Carlone,et al. A convergence analysis for pose graph optimization via Gauss-Newton methods , 2013, 2013 IEEE International Conference on Robotics and Automation.
[52] Niko Sünderhauf,et al. Switchable constraints for robust pose graph SLAM , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.