Barbara Bazzana

2 accepted papers

2024

How-to Augmented Lagrangian on Factor Graphs

Barbara Bazzana, Henrik Andreasson, Giorgio Grisetti

RA-L 2024

Factor graphs are a very powerful graphical representation, used to model many problems in robotics. They are widely spread in the areas of Simultaneous Localization and Mapping (SLAM), computer vision, and localization. However, the physics of many real-world problems is better modeled through cons

Cited by 5 Source ↗Scholar ↗

2023

Handling Constrained Optimization in Factor Graphs for Autonomous Navigation

Barbara Bazzana, Tiziano Guadagnino, Giorgio Grisetti

RA-L 2023

Factor graphs are graphical models used to represent a wide variety of problems across robotics, such as Structure from Motion (SfM), Simultaneous Localization and Mapping (SLAM) and calibration. Typically, at their core, they have an optimization problem whose terms only depend on a small subset of

Cited by 16 Source ↗Scholar ↗