Factor graph optimization problems can be lifted via Shor's relaxation and Burer-Monteiro factorization to produce certifiable estimators that preserve the original factor graph connectivity and can be implemented with existing libraries.
On the local stability of semidefinite relaxations
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A certifiable globally optimal solver for GNSS-local frame alignment is obtained by relaxing a nonconvex QCQP to a concave Lagrangian dual and deriving tightness criteria from observability analysis.
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Certifiable Factor Graph Optimization
Factor graph optimization problems can be lifted via Shor's relaxation and Burer-Monteiro factorization to produce certifiable estimators that preserve the original factor graph connectivity and can be implemented with existing libraries.
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Certifiable Alignment of GNSS and Local Frames via Lagrangian Duality
A certifiable globally optimal solver for GNSS-local frame alignment is obtained by relaxing a nonconvex QCQP to a concave Lagrangian dual and deriving tightness criteria from observability analysis.