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In this work we present the first initialization methods equipped with explicit performance guarantees adapted to the pose-graph simultaneous localization and mapping (SLAM) and rotation averaging (RA) problems.
General Topology
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Richard J Hanson and Michael J Norris · 1981
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Least-squares estimation of transformation parameters between two point patterns
Shinji Umeyama · 1991
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Robust rotation and translation estimation in multiview reconstruction
Daniel Martinec and Tomas Pajdla · 2007
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Optimization Algorithms on Matrix Manifolds
P-A Absil, Robert Mahony, and Rodolphe Sepulchre · 2009
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A tutorial on graph-based SLAM
Giorgio Grisetti, Rainer Kummerle, Cyrill Stachniss, and Wolfram Burgard · 2010
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Angular synchronization by eigenvectors and semidefinite programming
Amit Singer · 2011
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A spectral learning approach to range-only SLAM
Byron Boots and Geoff Gordon · 2013
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Robust estimation of rotations from relative measurements by maximum likelihood
Nicolas Boumal, Amit Singer, and P-A Absil · 2013
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Cramér–Rao bounds for synchronization of rotations
Nicolas Boumal, Amit Singer, P-A Absil, and Vincent D Blondel · 2014
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Novel insights into the impact of graph structure on SLAM
Kasra Khosoussi, Shoudong Huang, and Gamini Dissanayake · 2014
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Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions
Luca Carlone, David M Rosen, Giuseppe Calafiore, John J Leonard, and Frank Dellaert · 2015
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Initialization techniques for 3D SLAM: a survey on rotation estimation and its use in pose graph optimization
Luca Carlone, Roberto Tron, Kostas Daniilidis, and Frank Dellaert · 2015
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Spectra: C++ library for large scale eigenvalue problems
Yixuan Qiu · 2015
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A useful variant of the Davis–Kahan theorem for statisticians
Yi Yu, Tengyao Wang, and Richard J Samworth · 2015
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Spectral synchronization of multiple views in SE(3)
Federica Arrigoni, Beatrice Rossi, and Andrea Fusiello · 2016
Phase retrieval from locally supported measurements
Brian Patrick Preskitt · 2018
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SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group
David M Rosen, Luca Carlone, Afonso S Bandeira, and John J Leonard · 2019
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Distributed certifiably correct pose-graph optimization
Yulun Tian, Kasra Khosoussi, David M Rosen, and Jonathan P How · 2019
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Shonan rotation averaging: Global optimality by surfing SO(p) n {}^{\mbox{n}}
Frank Dellaert, David M Rosen, Jing Wu, Robert Mahony, and Luca Carlone · 2020
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CPL-SLAM: Efficient and certifiably correct planar graph-based SLAM using the complex number representation
Taosha Fan, Hanlin Wang, Michael Rubenstein, and Todd Murphey · 2020
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Nonconvex phase synchronization
Nicolas Boumal · 2016
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Planar pose graph optimization: Duality, optimal solutions, and verification
Luca Carlone, Giuseppe C Calafiore, Carlo Tommolillo, and Frank Dellaert · 2016
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Tightness of the maximum likelihood semidefinite relaxation for angular synchronization
Afonso S Bandeira, Nicolas Boumal, and Amit Singer · 2017
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Cartan-Sync: Fast and global SE(d)-synchronization
Jesus Briales and Javier Gonzalez-Jimenez · 2017
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Shuyang Ling · 2020
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A unified approach to synchronization problems over subgroups of the orthogonal group
Huikang Liu, Man-Chung Yue, and Anthony Man-Cho So · 2020
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Cramér–Rao bounds and optimal design metrics for pose-graph SLAM
Yongbo Chen, Shoudong Huang, Liang Zhao, and Gamini Dissanayake · 2021
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Fast Pose Graph Optimization via Krylov-Schur and Cholesky Factorization
Gabriel Moreira, Manuel Marques, and Joao Paulo Costeira · 2021
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Advances in Inference and Representation for Simultaneous Localization and Mapping
David M Rosen, Kevin J Doherty, Antonio Terán Espinoza, and John J Leonard · 2021
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