Chordal Based Error Function for 3-D Pose-Graph Optimization.

IEEE Robotics and Automation Letters（2020）

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摘要

Pose-graph optimization (PGO) is a well-known problem in the robotics community. Optimizing a graph means finding the configuration of the nodes that best satisfies the edges. This is generally achieved using iterative approaches that refine a current solution until convergence. Nowadays, iterative least-squares (ILS) algorithms such as Gauss–Newton (GN) or Levenberg–Marquardt (LM) are dominant. C...

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关键词

Simultaneous localization and mapping,Optimization,Convergence,Three-dimensional displays,Covariance matrices

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