CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation

In this article, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks. We present complex (CPL)-SLAM, an efficient and certifiably correct algorithm to solve planar graph-based...

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Bibliographic Details

Published in:	IEEE transactions on robotics Vol. 36; no. 6; pp. 1719 - 1737
Main Authors:	Fan, Taosha, Wang, Hanlin, Rubenstein, Michael, Murphey, Todd
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.12.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Autonomous agents certifiably correct algorithms Complex numbers Maximum likelihood estimation Noise measurement Numerical analysis Optimization pose graph optimization Representations Robustness (mathematics) Semidefinite programming Simultaneous localization and mapping
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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