GitHub

RAJADURAI3/RGB-D-Visual-SLAM-pipeline-with-ORB-features-pose-graph-optimization-and-3D-reconstruction

This project implements a Visual SLAM pipeline that estimates camera trajectories and reconstructs the environment using RGB‑D data. It combines ORB feature tracking, essential matrix motion ...
IEEE

PO-AGNC: A Pose-Only-based Adaptive Graduated Non-Convexity Factor Graph Optimization for Visual-Inertial SLAM

Abstract: In Visual-Inertial Simultaneous Localization and Mapping (VI-SLAM), visual residuals are typically formulated using multi-view geometry, parameterizing both camera poses and scene feature ...
GitHub

Majorization Minimization Methods for Distributed Pose Graph Optimization

Official implementation of Majorization Minimization Methods for Distributed Pose Graph Optimization. Taosha Fan and Todd Murphey. In IEEE Transactions on Robotics (T-RO), 2024. We consider the ...
IEEE

Pose Graph Optimization over Planar Unit Dual Quaternions: Improved Accuracy with Provably Convergent Riemannian Optimization

Abstract: It is common in pose graph optimization (PGO) algorithms to assume that noise in the translations and rotations of relative pose measurements is uncorrelated. However, existing work shows ...
Frontiers

ecg2o: a seamless extension of g2o for equality-constrained factor graph optimization

Factor graph optimization serves as a fundamental framework for robotic perception, enabling applications such as pose estimation, simultaneous localization and mapping (SLAM), structure-from-motion ...