GitHub

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

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 ...

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 ...
IEEE

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

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 ...
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 ...
note

MATLAB初心者の備忘録2(グラフ作成編)

これは2024年ゆる募AdventCalendar13日目の記事です． はじめに こんにちは，JJ1MZEです．MATLABでのグラフの作成方法を備忘録にまとめました． 基本的な作り方 まずは，$${y=x}$$という一次式を以下の手順でグラフ化してみました． $${x}$$軸の値を定義する(今回は-10 ...
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 ...
note

MATLABで複数のグラフを同時に作成・保存する方法

僕は研究の都合上，一度の実験で30個ほどのデータをグラフ化しなければならなかったりします． 以前までは単純なグラフ作成のコードを使って一つのグラフを作成する度に実行を押し，保存をするという途方のない作業（今思えばめちゃくちゃバカらしい ...