Efficient Range-Constraint Manifold Optimization with Application to Cooperative Navigation
Yetong Zhang,Gerry Chen,Adam Rutkowski,Frank Dellaert,Yetong Zhang,Gerry Chen,Adam Rutkowski,Frank Dellaert
We present a manifold optimization approach to solve inference and planning problems with range constraints. The core of our approach is the definition of a manifold that represents points or poses with range constraints. We discover that the manifold of range-constrained points is homogeneous under the rigid transformation group action, and utilize the group action to derive the tangent space, re...
