Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM
Kevin J. Doherty,David M. Rosen,John J. Leonard,Kevin J. Doherty,David M. Rosen,John J. Leonard
In this work we present the first initialization methods equipped with explicit performance guarantees that are adapted to the pose-graph simultaneous localization and mapping (SLAM) and rotation averaging (RA) problems. SLAM and rotation averaging are typically formalized as large-scale nonconvex point estimation problems, with many bad local minima that can entrap the smooth optimization methods...
