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.
Optimization of the simultaneous localization and map-building algorithm for real-time implementation
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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.