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Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision.
Random sample consensus: a paradigm for model fitting with application to image analysis and automated cartography
M. Fischler and R. Bolles · 1981
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Robust Statistics
P. Huber · 1981
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Robust Regression and Outlier Detection
P. J. Rousseeuw and A. M. Leroy · 1981
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Multiple View Geometry in Computer Vision
R. Hartley and A. Zisserman · 2000
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The Laplace Distribution and Generalizations: A Revisit with Applications to Communications, Economics, Engineering, and Finance
S. Kotz, T. J. Kozubowski, and K. Podgórski · 2001
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Convex optimization
S. Boyd and L. Vandenberghe · 2004
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Deleting outliers in robust regression with mixed integer programming
G. Zioutas and A. Avramidis · 2005
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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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Non-linear constraint network optimization for efficient map learning
G. Grisetti, C. Stachniss, and W. Burgard · 2009
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A directional laplacian density for underdetermined audio source separation
N. Mitianoudis · 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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g2o: A general framework for graph optimization
R. Kümmerle, G. Grisetti, H. Strasdat, K. Konolige, and W. Burgard · 2011
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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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Robust loop closing over time
Y. Latif, C. D. C. Lerma, and J. Neira · 2012
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Inference on networks of mixtures for robust robot mapping
E. Olson and P. Agarwal · 2012
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Switchable constraints for robust pose graph SLAM
N. Sünderhauf and P. Protzel · 2012
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Towards a robust back-end for pose graph slam
N. Sunderhauf and P. Protzel · 2012
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Exact and stable recovery of rotations for robust synchronization
L. Wang and A. Singer · 2013
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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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Selecting good measurements via ℓ 1 \ell_{1} relaxation: a convex approach for robust estimation over graphs
L. Carlone, A. Censi, and F. Dellaert · 2014
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Duality-based verification techniques for 2D SLAM
L. Carlone and F. Dellaert · 2015
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Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions
L. Carlone, D. Rosen, G. Calafiore, J.J. Leonard, and F. Dellaert · 2015
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Robust incremental slam with consistency-checking
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A back-end l 1 norm based solution for factor graph slam
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Rotation averaging
R. Hartley, J. Trumpf, Y. Dai, and H. Li · 2013
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Robust pose-graph loop-closures with expectation-maximization
G. H. Lee, F. Fraundorfer, and M. Pollefeys · 2013
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Robust map optimization using dynamic covariance scaling
L. Spinello C. Stachniss P. Agarwal, G.D. Tipaldi and W. Burgard · 2013
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Switchable constraints vs. max-mixture models vs. rrr–a comparison of three approaches to robust pose graph slam
Niko Sünderhauf and Peter Protzel · 2013
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CVX: Matlab software for disciplined convex programming
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M. C. Graham, J. P. How, and D. E. Gustafson · 2015
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Past, present, and future of simultaneous localization and mapping: Toward the robust-perception age
C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. Reid, and J. J. Leonard · 2016
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Planar pose graph optimization: Duality, optimal solutions, and verification
L. Carlone, G. Calafiore, C. Tommolillo, and F. Dellaert · 2016
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Generalized graph slam: Solving local and global ambiguities through multimodal and hyperedge constraints
M. Pfingsthorn and A. Birk · 2016
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SE-Sync: A certifiably correct algorithm for synchronization over the Special Euclidean group
D.M. Rosen, L. Carlone, A.S. Bandeira, and J.J. Leonard · 2016
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