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README

INTRODUCTION

  • This matlab code creates a 2D (random) pose graph optimization (PGO) problem, and
  • 1) iteratively solves the primal problem using gauss newton (GN)
  • 2) solves the dual (SDP)
  • 3) computes the duality gap

REQUIREMENTS

RUNNING THE CODE

  • execute "main.m" using Matlab

CITING THIS WORK

@inproceedings{Carlone15icra,
    Author = {L. Carlone and F. Dellaert},
    Booktitle = icra,
    Title = {Duality-based Verification Techniques for {2D SLAM}},
    Pages = {4589--4596},
    Year = 2015
}
@article{Carlone15tro,
    Author = {L. Carlone and G. Calafiore and C. Tommolillo and F. Dellaert},
    Journal = {IEEE Trans. on Robotics, Conditionally accepted},
    Title = {Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification},
    Year = 2015
}
@inproceedings{Carlone15rssws2D,
  title={Pose Graph Optimization in the Complex Domain: Lagrangian Duality and Optimal Solutions},
  author={L. Carlone and G. Calafiore and F. Dellaert},
  booktitle={RSS workshop "Reviewing the review process", 
  available online at http://openreview.informatik.uni-freiburg.de/node/41},
  year={2015}
}

CONTACTING THE AUTHOR

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Luca Carlone
email: lcarlone@mit.edu
website: lucacarlone.com
Massachusetts Institute of Technology
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