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Pose Graph Optimization (PGO) is the problem of estimating a set of poses from pairwise relative measurements.
The approximation of one matrix by another low rank
C. Eckart and G. Young · 1936
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A method for the solution of certain nonlinear problems in least squares
K. Levenberg · 1944
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Statistical theory of DF finding
R. Stanfield · 1947
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Spectral Graph Theory
F.R.K. Chung · 1996
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Globally consistent range scan alignment for environment mapping
F. Lu and E. Milios · 1997
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Theory of Linear and Integer Programming
Al. Schrijver · 1998
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Quadratic maximization and semidefinite relaxation
S. Zhang · 2000
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Convex position estimation in wireless sensornetworks
L. Doherty, K. Pister, and L. El Ghaoui · 2001
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Complex number, Encyclopedia of Mathematics
M. Hazewinkel ed · 2001
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Combining two-view constraints for motion estimation
V. M. Govindu · 2001
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Fast, on-line learning of globally consistent maps
T. Duckett, S. Marsland, and J. Shapiro · 2002
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Convex optimization
S. Boyd and L. Vandenberghe · 2004
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Rigidity, computation, and randomization in network localization
T. Eren, O.K. Goldenberg, W. Whiteley, and Y.R. Yang · 2004
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Lie-algebraic averaging for globally consistent motion estimation
V.M. Govindu · 2004
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Large-scale map-making
K. Konolige · 2004
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Multiview registration of 3D scenes by minimizing error between coordinate frames
G.C. Sharp, S.W. Lee, and D.K. Wehe · 2004
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A multilevel relaxation algorithm for simultaneous localisation and mapping
U. Frese, P. Larsson, and T. Duckett · 2005
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Semidefinite programming based algorithms for sensor network localization
P. Biswas, T. Lian, T. Wang, and Y. Ye · 2006
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Distributed weighted-multidimensional scaling for node localization in sensor networks
J. Costa, N. Patwari, and A. Hero · 2006
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Using angle of arrival (bearing) information in network localization
T. Eren, W. Whiteley, and P.N. Belhumeur · 2006
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Visually mapping the RMS Titanic: Conservative covariance estimates for SLAM information filters
R.M. Eustice, H. Singh, J.J. Leonard, and M.R. Walter · 2006
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Swarms on sphere: A programmable swarm with synchronous behaviors like oscillator networks
R. Olfati-Saber · 2006
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Fast iterative alignment of pose graphs with poor initial estimates
E. Olson, J. Leonard, and S. Teller · 2006
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Estimation on graphs from relative measurements
P. Barooah and J.P. Hespanha · 2007
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Wireless sensor network localization techniques
G. Mao, B. Fidan, and B. Anderson · 2007
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Robust rotation and translation estimation in multiview reconstruction
D. Martinec and T. Pajdla · 2007
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Wide-sense estimation on the special orthogonal group
A. Chiuso, G. Picci, and S. Soatto · 2008
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iSAM: Incremental smoothing and mapping
M. Kaess, A. Ranganathan, and F. Dellaert · 2008
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A remark on global positioning from local distances
A. Singer · 2008
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Non-linear constraint network optimization for efficient map learning
G. Grisetti, C. Stachniss, and W. Burgard · 2009
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Consensus optimization on manifolds
A. Sarlette and R. Sepulchre · 2009
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Distributed image-based 3-D localization in camera networks
R. Tron and R. Vidal · 2009
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Distributed optimization techniques for range localization in networked systems
G.C. Calafiore, L. Carlone, and M. Wei · 2010
Cited alongside, same era.
iSAM2: Incremental smoothing and mapping using the Bayes tree
M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. Leonard, and F. Dellaert · 2012
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Collaborative 3D localization of robots from relative pose measurements using gradient descent on manifolds
J. Knuth and P. Barooah · 2012
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An incremental trust-region method for robust online sparse least-squares estimation
D.M. Rosen, M. Kaess, and J.J. Leonard · 2012
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Intrinsic consensus on SO(3) with almost global convergence
R. Tron, B. Afsari, and R. Vidal · 2012
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Riemannian consensus for manifolds with bounded curvature
R. Tron, B. Afsari, and R. Vidal · 2012
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On the structure of nonlinearities in pose graph SLAM
H. Wang, G. Hu, S. Huang, and G. Dissanayake · 2012
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Subgraph-preconditioned conjugate gradient for large scale slam
F. Dellaert, J. Carlson, V. Ila, K. Ni, and C.E. Thorpe · 2010
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Efficient trajectory bending with applications to loop closure
G. Dubbelman, I. Esteban, and K. Schutte · 2010
Cited alongside, same era.
Vision-based cooperative estimation via multi-agent optimization
T. Hatanaka, M. Fujita, and F. Bullo · 2010
Cited alongside, same era.
How far is SLAM from a linear least squares problem?
S. Huang, Y. Lai, U. Frese, and G. Dissanayake · 2010
Cited alongside, same era.
Multiple relative pose graphs for robust cooperative mapping
B. Kim, M. Kaess, L. Fletcher, J. Leonard, A. Bachrach, N. Roy, and S. Teller · 2010
Cited alongside, same era.
Angular synchronization by eigenvectors and semidefinite programming
A. Singer · 2010
Cited alongside, same era.
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A Cheeger inequality for the graph connection laplacian
A.S. Bandeira, A. Singer, and D.A. Spielman · 2013
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Generic factor-based node marginalization and edge sparsification for pose-graph SLAM
Nicholas Carlevaris-Bianco and Ryan M. Eustice · 2013
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Convergence analysis of pose graph optimization via Gauss-Newton methods
L. Carlone · 2013
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Closed-form online pose-chain slam
G. Dubbelman and B. Browning · 2013
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Rotation averaging
R. Hartley, J. Trumpf, Y. Dai, and H. Li · 2013
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Temporally scalable visual SLAM using a reduced pose graph
H. Johannsson, M. Kaess, M. Fallon, and J.J. Leonard · 2013
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Collaborative localization with heterogeneous inter-robot measurements by Riemannian optimization
J. Knuth and P. Barooah · 2013
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Error growth in position estimation from noisy relative pose measurements
J. Knuth and P. Barooah · 2013
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On frame and orientation localization for relative sensing networks
G. Piovan, I. Shames, B. Fidan, F. Bullo, and B. Anderson · 2013
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Exact and stable recovery of rotations for robust synchronization
L. Wang and A. Singer · 2013
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A fast and accurate approximation for planar pose graph optimization
L. Carlone, R. Aragues, J.A. Castellanos, and B. Bona · 2014
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From angular manifolds to the integer lattice: Guaranteed orientation estimation with application to pose graph optimization
L. Carlone and A. Censi · 2014
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Multi-robot pose graph localization and data association from unknown initial relative poses via expectation maximization
V. Indelman, E. Nelson, N. Michael, and F. Dellaert · 2014
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Sensor network localization on the group of 3D displacements
J. R. Peters, D. Borra, B. Paden, and F. Bullo · 2014
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RISE: An incremental trust-region method for robust online sparse least-squares estimation
D.M. Rosen, M. Kaess, and J.J. Leonard · 2014
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Semidefinite descriptions of the convex hull of rotation matrices
J. Saunderson, P.A. Parrilo, and A. Willsky · 2014
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Semidefinite relaxations for optimization problems over rotation matrices
J. Saunderson, P.A. Parrilo, and A. Willsky · 2014
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Duality-based verification techniques for 2D SLAM
L. Carlone and F. Dellaert · 2015
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Initialization techniques for 3D SLAM: a survey on rotation estimation and its use in pose graph optimization
L. Carlone, R. Tron, K. Daniilidis, and F. Dellaert · 2015
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Rigid components identification and rigidity enforcement in bearing-only localization using the graph cycle basis
R. Tron, L. Carlone, F. Dellaert, and K. Daniilidis · 2015
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