Global Optimization for 2D SLAM Problem

DOI10.1007/978-3-319-03500-0_3zbMath1418.93183OpenAlexW78445484MaRDI QIDQ5223311

Jonghyuk Kim, Usman Qayyum

Publication date: 17 July 2019

Published in: Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-319-03500-0_3

zbMATH Keywords

local minimaoptimal solutionGauss-Newton optimizationgreedy random adaptive search proceduremap-joining

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Stochastic programming (90C15) Applications of optimal control and differential games (49N90) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Least squares and related methods for stochastic control systems (93E24)

Uses Software

• g2o

Cites Work

• Solving the sum-of-ratios problem by an interior-point method
• Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
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