Cartan-Sync: Fast and Global SE(d)-Synchronization

  title={Cartan-Sync: Fast and Global SE(d)-Synchronization},
  author={Jesus Briales and Javier Gonzalez-Jimenez},
  journal={IEEE Robotics and Automation Letters},
This work addresses the fundamental problem of pose graph optimization (PGO), which is pervasive in the context of SLAM, and widely known as <inline-formula><tex-math notation="LaTeX">$\text{SE}(d)$</tex-math></inline-formula> -synchronization in the mathematical community. Our contribution is twofold. First, we provide a novel, elegant, and compact matrix formulation of the maximum likelihood estimation (MLE) for this problem, drawing interesting connections with the connection Laplacian of a… CONTINUE READING


Publications referenced by this paper.
Showing 1-10 of 28 references

Similar Papers

Loading similar papers…