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README

INTRODUCTION

  • This matlab code creates a 3D pose graph optimization (PGO) problem, and
  • 1) iteratively solves the primal problem using Gauss Newton (GN)
  • 2) demonstrated the use of the verification techniques presented in [Carlone15iros]

REQUIREMENTS

RUNNING THE CODE

  • execute "main.m" using Matlab

CITING THIS WORK

@inproceedings{Carlone15iros,
    Author = {L. Carlone and D. Rosen and G. Calafiore and J.J. Leonard and F. Dellaert},
    Booktitle = iros,
    Title = {Lagrangian Duality in {3D SLAM}: Verification Techniques and Optimal Solutions},
    Year = 2015
}
@inproceedings{Tron15rssws3D,
    Author = {R. Tron and D. Rosen and L. Carlone},
    Booktitle = {Robotics: Science and Systems (RSS), Workshop ``The problem of mobile sensors: Setting 
    future goals and indicators of progress for SLAM''},
    Title = {On the Inclusion of Determinant Constraints in Lagrangian Duality for 3D SLAM},
    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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