Luca Carlone, David M. Rosen, Giuseppe Carlo Calafiore, John J. Leonard, Frank Dellaert. Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015. pages 125-132, IEEE, 2015. [doi]
Abstract is missing.