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- W4285149726 abstract "This paper proposes a computationally efficient method for pose-graph optimization that makes use of a multi-resolution representation of pose-graph transformation constructed on a spanning tree. It is shown that the proposed spanning tree-based hierarchy has a number of advantages over the previously known serial chain-based hierarchy in terms of preservation of sparsity and compatibility with parallel computation. It is demonstrated in numerical experiments using several public datasets that the proposed method outperforms a state-of-the-art solver for large-scale datasets." @default.
- W4285149726 created "2022-07-14" @default.
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- W4285149726 date "2022-10-01" @default.
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- W4285149726 title "A Spanning Tree-Based Multi-Resolution Approach for Pose-Graph Optimization" @default.
- W4285149726 doi "https://doi.org/10.1109/lra.2022.3185779" @default.
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