PGO3D-fastVerif

Demonstrate the use of the verification techniques presented in "Fast Global Optimality Verification in 3D SLAM" at IROS16.

The implementation of this approach has been included into the more comprehensive PGO pipeline Cartan-Sync. Check the methods compute_Lambda and min_eig_penalizedMat in the file MATLAB/SE-Sync/lib/@SE_Sync_Cartan/SE_Sync_Cartan.m of the Cartan-Sync repository.

CITING THIS WORK

@inproceedings{Briales16iros,
	Author = {J. Briales and J. Gonzalez},
	Booktitle = iros,
	Title = {Fast Global Optimality Verification in {3D SLAM}},
	Year = 2016
}

CONTACTING THE AUTHOR

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Jesus Briales
email: jesusbriales@uma.es
website: mapir.isa.uma.es/jbriales
University of Malaga
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