Fetching the paper…
Reading the bibliography…
Perceptual aliasing is one of the main causes of failure for Simultaneous Localization and Mapping (SLAM) systems operating in the wild.
P. Huber, Robust Statistics . John Wiley & Sons, New York, NY, 1981
1981
Earlier work this paper cites.
M. Fischler and R. Bolles, “Random sample consensus: a paradigm for model fitting with application to image analysis and automated cartography,” Commun. ACM , vol. 24, pp. 381–395, 1981
1981
Earlier work this paper cites.
F. Dellaert, S. Seitz, C. Thorpe, and S. Thrun, “Structure from motion without correspondence,” in IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) , June 2000
2000
Earlier work this paper cites.
J. Neira and J. Tardós, “Data association in stochastic mapping using the joint compatibility test,” IEEE Trans. Robot. Automat. , vol. 17, no. 6, pp. 890–897, December 2001
2001
Earlier work this paper cites.
F. Dellaert, “Square Root SAM: Simultaneous location and mapping via square root information smoothing,” in Robotics: Science and Systems (RSS) , 2005
2005
Earlier work this paper cites.
R. Szeliski, R. Zabih, D. Scharstein, O. Veksler, V. Kolmogorov, A. Agarwala, M. Tappen, and C. Rother, “A Comparative Study of Energy Minimization Methods for Markov Random Fields with Smoothness-Based Priors,” IEEE Transactions on Pattern Analysis and Machine Intelligence , vol. 30, no. 6, pp. 1068–1080, 2008
2008
Earlier work this paper cites.
A. Blake, P. Kohli, and C. Rother, Markov Random Fields for Vision and Image Processing . The MIT Press, 2011
2011
Earlier work this paper cites.
N. Sünderhauf and P. Protzel, “Switchable constraints for robust pose graph SLAM,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) , 2012
2012
Earlier work this paper cites.
Y. Latif, C. D. C. Lerma, and J. Neira, “Robust loop closing over time.” in Robotics: Science and Systems (RSS) , 2012
2012
Earlier work this paper cites.
C. Zach and P. Kohli, “A convex discrete-continuous approach for Markov random fields,” in European Conf. on Computer Vision (ECCV) , 2012, pp. 386–399
2012
Earlier work this paper cites.
D. Crandall, A. Owens, N. Snavely, and D. Huttenlocher, “SfM with MRFs: Discrete-continuous optimization for large-scale structure from motion,” IEEE Trans. Pattern Anal. Machine Intell. , 2012
2012
Earlier work this paper cites.
E. Olson and P. Agarwal, “Inference on networks of mixtures for robust robot mapping,” in Robotics: Science and Systems (RSS) , July 2012
2012
Earlier work this paper cites.
N. Sunderhauf and P. Protzel, “Towards a robust back-end for pose graph SLAM,” in IEEE Intl. Conf. on Robotics and Automation (ICRA) , 2012, pp. 1254–1261
2012
Cited alongside, same era.
P. Agarwal, G. Tipaldi, L. Spinello, C. Stachniss, and W. Burgard, “Robust map optimization using dynamic covariance scaling,” in IEEE Intl. Conf. on Robotics and Automation (ICRA) , 2013
2013
Cited alongside, same era.
R. Hartley, J. Trumpf, Y. Dai, and H. Li, “Rotation averaging,” IJCV , vol. 103, no. 3, pp. 267–305, 2013
2013
Cited alongside, same era.
J. Casafranca, L. Paz, and P. Piniés, “A back-end ℓ 1 \mathchar 352_{\mathchar 28721} norm based solution for factor graph SLAM,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) , 2013, pp. 17–23
2013
Cited alongside, same era.
G. H. Lee, F. Fraundorfer, and M. Pollefeys, “Robust pose-graph loop-closures with expectation-maximization,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) , 2013
M. Graham, J. How, and D. Gustafson, “Robust incremental SLAM with consistency-checking,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) , Sept 2015, pp. 117–124
2015
Later among the works it cites.
R. Tron, D. Rosen, and L. Carlone, “On the inclusion of determinant constraints in lagrangian duality for 3D SLAM,” in Robotics: Science and Systems (RSS), Workshop “The problem of mobile sensors: Setting future goals and indicators of progress for SLAM” , 2015, (pdf)
2015
Later among the works it cites.
L. Carlone, G. Calafiore, C. Tommolillo, and F. Dellaert, “Planar pose graph optimization: Duality, optimal solutions, and verification,” IEEE Trans. Robotics , vol. 32, no. 3, pp. 545–565, 2016, (pdf) (code)
2016
Later among the works it cites.
alphaXiv searches the wider corpus for related work and actual follow-ups.
alphaXiv is searching for related work…
2013
Cited alongside, same era.
M. Pfingsthorn and A. Birk, “Simultaneous localization and mapping with multimodal probability distributions,” Intl. J. of Robotics Research , vol. 32, no. 2, pp. 143–171, 2013
2013
Cited alongside, same era.
L. Wang and A. Singer, “Exact and stable recovery of rotations for robust synchronization,” Information and Inference: A Journal of the IMA , vol. 30, 2013
2013
Cited alongside, same era.
A. Fix and S. Agarwal, “Duality and the continuous graphical model,” in European Conf. on Computer Vision (ECCV) , 2014, pp. 266–281
2014
Cited alongside, same era.
L. Carlone, A. Censi, and F. Dellaert, “Selecting good measurements via ℓ 1 \mathchar 352_{\mathchar 28721} relaxation: a convex approach for robust estimation over graphs,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) , 2014, (pdf)
2014
Cited alongside, same era.
L. Carlone and F. Dellaert, “Duality-based verification techniques for 2D SLAM,” in IEEE Intl. Conf. on Robotics and Automation (ICRA) , 2015, pp. 4589–4596, (pdf) (code)
2015
Cited alongside, same era.
L. Carlone, D. Rosen, G. Calafiore, J. Leonard, and F. Dellaert, “Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) , 2015, pp. 125–132, (pdf) (code) (datasets: (web) ) (supplemental material: (pdf) )
2015
Cited alongside, same era.
J. H. Kappes, B. Andres, F. A. Hamprecht, C. Schnörr, S. Nowozin, D. Batra, S. Kim, B. X. Kausler, T. Kröger, J. Lellmann, N. Komodakis, B. Savchynskyy, and C. Rother, “A Comparative Study of Modern Inference Techniques for Structured Discrete Energy Minimization Problems,” Intl. J. of Computer Vision , vol. 115, no. 2, pp. 155–184, 2015
2015
Cited alongside, same era.
2016
Later among the works it cites.
M. Bosse, G. Agamennoni, and I. Gilitschenski, “Robust estimation and applications in robotics,” Foundations and Trends in Robotics , vol. 4, no. 4, pp. 225–269, 2016
2016
Later among the works it cites.
——, “Generalized graph SLAM: Solving local and global ambiguities through multimodal and hyperedge constraints,” Intl. J. of Robotics Research , vol. 35, no. 6, pp. 601–630, 2016
2016
Later among the works it cites.
S. Bowman, N. Atanasov, K. Daniilidis, and G. Pappas, “Probabilistic data association for semantic slam,” in IEEE Intl. Conf. on Robotics and Automation (ICRA) , 2017, pp. 1722–1729
2017
Later among the works it cites.
J. Briales and J. Gonzalez-Jimenez, “Cartan-sync: Fast and global SE(d)-synchronization,” IEEE Robot. Autom. Lett , vol. 2, no. 4, pp. 2127–2134, 2017
2017
Later among the works it cites.
2018
Closest in time.
J. Mangelson, D. Dominic, R. Eustice, and R. Vasudevan, “Pairwise consistent measurement set maximization for robust multi-robot map merging,” in IEEE Intl. Conf. on Robotics and Automation (ICRA) , 2018
2018
Closest in time.
F. Arrigoni, B. Rossi, P. Fragneto, and A. Fusiello, “Robust synchronization in SO(3) and SE(3) via low-rank and sparse matrix decomposition,” Computer Vision and Image Understanding , 2018
2018
Closest in time.