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Many geometric estimation problems take the form of synchronization over the special Euclidean group: estimate the values of a set of poses given noisy measurements of a subset of their pairwise relative transforms.
Least-squares estimation of transformation parameters between two point patterns
S. Umeyama · 1991
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A Course in Large Sample Theory
T.S. Ferguson · 1996
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Globally consistent range scan alignment for environmental mapping
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The geometry of algorithms with orthogonality constraints
A. Edelman, T.A. Arias, and S.T. Smith · 1998
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A nonlinear programming algorithm for solving semidefinite programs via low-rank factorization
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Local minima and convergence in low-rank semidefinite programming
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Square Root SAM: Simultaneous localization and mapping via square root information smoothing
F. Dellaert and M. Kaess · 2006
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Numerical Optimization
J. Nocedal and S.J. Wright · 2006
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Fast iterative alignment of pose graphs with poor initial estimates
E. Olson, J.J. Leonard, and S. Teller · 2006
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Trust-region methods on Riemannian manifolds
P.-A. Absil, C.G. Baker, and K.A. Gallivan · 2007
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Robust rotation and translation estimation in multiview reconstruction
D. Martinec and T. Pajdla · 2007
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Optimization Algorithms on Matrix Manifolds
P.-A. Absil, R. Mahony, and R. Sepulchre · 2008
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Wide-sense estimation on the special orthogonal group
A. Chiuso, G. Picci, and S. Soatto · 2008
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Nonlinear constraint network optimization for efficient map learning
G. Grisetti, C. Stachniss, and W. Burgard · 2009
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The Schur complement and symmetric positive semidefinite (and definite) matrices
J. Gallier · 2010
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How far is SLAM from a linear least squares problem?
S. Huang, Y. Lai, U. Frese, and G. Dissanayake · 2010
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Semidefinite relaxation of quadratic optimization problems
Z.-Q. Luo, W.-K. Ma, A. So, Y. Ye, and S. Zhang · 2010
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Multi-agent localization from noisy relative pose measurements
R. Aragues, L. Carlone, G. Calafiore, and C. Sagues · 2011
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Manopt, a MATLAB toolbox for optimization on manifolds
N. Boumal, B. Mishra, P.-A. Absil, and R. Sepulchre · 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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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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Distributed 3-D localization of camera sensor networks from 2-D image measurements
R. Tron and R. Vidal · 2014
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N. Boumal · 2015
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On the number of local minima to the point feature based SLAM problem
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Duality-based verification techniques for 2D SLAM
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A convex relaxation for approximate global optimization in simultaneous localization and mapping
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A note on probably certifiably correct algorithms
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Tightness of the maximum likelihood semidefinite relaxation for angular synchronization
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