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Semidefinite Programming (SDP) and Sums-of-Squares (SOS) relaxations have led to certifiably optimal non-minimal solvers for several robotics and computer vision problems.
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2019
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2019
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P. Lajoie, S. Hu, G. Beltrame, and L. Carlone, “Modeling perceptual aliasing in SLAM via discrete-continuous graphical models,” IEEE Robotics and Automation Letters (RA-L) , 2019
2019
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J. G. Mangelson, J. Liu, R. M. Eustice, and R. Vasudevan, “Guaranteed globally optimal planar pose graph and landmark SLAM via sparse-bounded sums-of-squares programming,” in IEEE Intl. Conf. on Robotics and Automation (ICRA) . IEEE, 2019, pp. 9306–9312
2019
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S. Hu and L. Carlone, “Accelerated inference in Markov Random Fields via smooth Riemannian optimization,” IEEE Robotics and Automation Letters (RA-L) , 2019
2019
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