Comparison of two different objective functions in 2D point feature SLAM

DOI10.1016/j.automatica.2018.08.009zbMath1406.93386OpenAlexW2888389178WikidataQ129348128 ScholiaQ129348128MaRDI QIDQ1716522

Gamini Dissanayake, Heng Wang, Shoudong Huang, Guang-Hong Yang

Publication date: 5 February 2019

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: http://hdl.handle.net/10453/131276

zbMATH Keywords

dimension reductionconvergence propertiesstrong duality2D point feature SLAM

Mathematics Subject Classification ID

Nonconvex programming, global optimization (90C26) Least squares and related methods for stochastic control systems (93E24) Optimal stochastic control (93E20) Duality theory (optimization) (49N15)

Uses Software

• iSAM2
• SE-Sync

Cites Work

• Unnamed Item
• Rotation averaging
• Dimensionality reduction for point feature SLAM problems with spherical covariance matrices
• The nonlinearity structure of point feature SLAM problems with spherical covariance matrices
• Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing

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