SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group

David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard

Abstract: Many important geometric estimation problems naturally take the form of synchronization over the special Euclidean group: estimate the values of a set of unknown group elements x1,…,xn∈SE(d) given ...