Simultaneous localization and map** (SLAM) consists in the concurrent construction of a
model of the environment (the map), and the estimation of the state of the robot moving …

Many important geometric estimation problems naturally take the form of synchronization
over the special Euclidean group: estimate the values of a set of unknown group elements x …

Pose graph optimization (PGO) is the problem of estimating a set of poses from pairwise
relative measurements. PGO is a nonconvex problem and, currently, no known technique …

We propose a new algorithm to solve optimization problems of the form $\min f (X) $ for a
smooth function $ f $ under the constraints that $ X $ is positive semidefinite and the …

Many geometric estimation problems naturally take the form of synchronization over the
special Euclidean group: estimate the values of a set of unknown poses x_ 1, ..., x_n ∈ SE …

This paper deals with the synchronization problem, which arises in multiple 3D point-set
registration and in structure-from-motion. The problem is formulated as a low-rank and …

The state-of-the-art modern pose-graph optimization (PGO) systems are vertex based. In this
context, the number of variables might be high, albeit the number of cycles in the graph (loop …

Group contraction is an algebraic map that relates two classes of Lie groups by a limiting
process. We utilize this notion for the compactification of the class of Cartan motion groups …

We consider a group synchronization problem with multiple frequencies which involves
observing pairwise relative measurements of group elements on multiple frequency …

Pose graph optimization (PGO), or equivalently pose synchronization, that is synchronizing
rotations and positions, is the state-of-the-art formulation for simultaneous localization and …