Pose estimation is essentially a non-convex and NP-hard problem,which is difficult to solve due to the inclusion of the special orthogonal group and often comes with a poor initial value.This paper proposes a Graph SLAM pose initialization algorithm based on quaternion representation.Firstly,a two-stage algorithm is used to decompose the maximum likelihood estimation equation constructed for pose estimation into two independent subproblems,namely the rotation averaging problem based on quaternion representation and linear equation problem of unconstrained average translation vectors.Then,the non-convex problem is transformed into a linear equation problem through trace relaxation.Finally,the initial pose is calculated in combination with the translation vectors.Sim-ulation results show that this method reduces the error value by an order of magnitude compared to classic methods in datasets with noise,and can robustly provide a good initial pose for pose estimation problems.
关键词
即时定位与建图技术/位姿估计/四元数/最大似然估计/两阶段算法/旋转平均/迹松弛
Key words
Simultaneous Localization and Mapping/Pose Estimation/Quaternion/Maximum Likeli-hood Estimation/Two-stage Algorithm/Rotation Averaging/Trace Relaxation
万方数据