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.
Factor graphs for robot perception
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A bi-level optimization framework jointly calibrates noise covariances and kinematic parameters for improved state estimation accuracy in legged robots.
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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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Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization
A bi-level optimization framework jointly calibrates noise covariances and kinematic parameters for improved state estimation accuracy in legged robots.