RT Conference Proceedings
T1 Fast Global Optimality Verification in 3D SLAM
A1 Briales Garcia, Jesus
A1 González-Jiménez, Antonio Javier
K1 Robótica
AB Graph-based SLAM has proved to be one of the most effective solutions to the Simultaneous  localization and Mapping problem. This approach relies on nonlinear iterative optimization methods that in practice perform bothaccurately and efficiently. However, due to the non-convexity of the problem, the obtained solutions come with no guarantee of global optimality and may get stuck in local minima. Theapplication of SLAM to many real-world applications cannot be conceived without additional control tools that detect possiblesuboptimalities as soon as possible in order to take corrective action and avoid catastrophic failure of the entire system.This paper builds upon the state-of-the-art framework [1] in verification for this problem and introduces a novel superior formulation that leads to a much higher efficiency. Whileretaining the same high effectiveness, the verification times of our proposal reduce up to >50x, paving the way for faster verification in critical real applications or in embedded low-power systems.We support our claims with extensive experiments with real and simulated data.
YR 2016
FD 2016-10-20
LK http://hdl.handle.net/10630/12249
UL http://hdl.handle.net/10630/12249
LA eng
NO J. Briales, J. Gonzalez-Jimenez, "Fast Global Optimality Verification in 3D SLAM", in Int. Conf. on Intelligent Robots and Systems (IROS), Daejeon, Korea, IEEE/RSJ, pp. 4630-4636, 2016
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Spanish grant program FPU14/06098 and the project PROMOVE (DPI2014-55826-R), funded by the Spanish Government and the "European Regional Development Fund".
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026