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

@article{Briales2017CartanSyncFA,
title={Cartan-Sync: Fast and Global SE(d)-Synchronization},
author={Jesus Briales and Javier Gonzalez-Jimenez},
journal={IEEE Robotics and Automation Letters},
year={2017},
volume={2},
pages={2127-2134}
}
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

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