Rigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basis

@inproceedings{Tron2015RigidCI,
  title={Rigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basis},
  author={Roberto Tron and Luca Carlone and Frank Dellaert and Kostas Daniilidis},
  year={2015}
}
Bearing-only localization can be formulated in terms of optimal graph embedding: one has to assign a 2-D or 3-D position to each node in a graph while satisfying as close as possible all the bearing-only constraints on the edges. If the graph is parallel rigid, this can be done via spectral methods. When the graph is not rigid the reconstruction is ambiguous, as different subsets of vertices can be scaled differently. It is therefore important to first identify a partition of the problem into… CONTINUE READING
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Distributed control of angle-constrained cyclic formations using bearing-only measurements

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