4 accepted papers
It is common in pose graph optimization (PGO) algorithms to assume that noise in the translations and rotations of relative pose measurements is uncorrelated. However, existing work shows that in practice these measurements can be highly correlated, which leads to degradation in the accuracy of PGO…
Pose graph optimization is a special case of the simultaneous localization and mapping problem where the only variables to be estimated are pose variables and the only measurements are inter-pose constraints. The vast majority of pose graph optimization techniques are vertex based (variables are rob
Pose graph optimization is a common problem in robotics and associated fields. Most commonly, pose graph optimization is performed by finding the set of pose estimates which are the most likely for a given set of measurements. In some situations, arbitrarily large errors in pose graph initialization
Robotic airborne chemical source localization has critical applications ranging from search and rescue to hazard detection to pollution assessment. Previous demonstrations on flying robots have required search times in excess of ten minutes, or required computation-intensive signal processing, large…