Name
Title | ||
|---|---|---|
Analysis of Minima for Geodesic and Chordal Cost for a Minimal 2-D Pose-Graph SLAM Problem |
Abstract | ||
|---|---|---|
In this letter, we show that for a minimal 2D pose-graph SLAM problem, even in the ideal case of perfect measurements and spherical covariance, using geodesic distance (in 2D, the “wrap function”) to compare angles results in multiple suboptimal local minima. We numerically estimate regions of attraction to these local minima for some examples, give evidence to show that they are of nonzero measur... |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/LRA.2019.2958492 | IEEE Robotics and Automation Letters |
Keywords | DocType | Volume |
Simultaneous localization and mapping,Two dimensional displays,Cost function,Level measurement,Noise measurement | Journal | 5 |
Issue | ISSN | Citations |
2 | 2377-3766 | 0 |
PageRank | References | Authors |
0.34 | 10 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Felix H. Kong | 1 | 0 | 1.35 |
| Jiaheng Zhao | 2 | 0 | 0.34 |
| Liang Zhao | 3 | 100 | 13.74 |
| Shoudong Huang | 4 | 755 | 62.77 |