William D. Warke

Pose Graph Optimization over Planar Unit Dual Quaternions: Improved Accuracy with Provably Convergent Riemannian Optimization

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…