Multi-Robot Relative Pose Estimation in SE(2) with Observability Analysis: A Comparison of Extended Kalman Filtering and Robust Pose Graph Optimization

Authors: Gihun Shin, Hyunjae Sim, Seungwon Nam, Yonghee Kim, Jae Heo, Kwang-Ki K. Kim

Published: 2024-10-10

DOI: 10.1109/tiv.2024.3478290

Source: Full article

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