{"id":"https://openalex.org/W1994292819","doi":"https://doi.org/10.1109/tro.2013.2291626","title":"From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization","display_name":"From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization","publication_year":2014,"publication_date":"2014-01-31","ids":{"openalex":"https://openalex.org/W1994292819","doi":"https://doi.org/10.1109/tro.2013.2291626","mag":"1994292819"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2013.2291626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2013.2291626","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","[Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA]"],"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Coll. of Comput., Georgia Inst. of Technol., Atlanta, GA, USA]","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057460079","display_name":"Andrea Censi","orcid":"https://orcid.org/0000-0001-5162-0398"},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrea Censi","raw_affiliation_strings":["Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","Labs. for Inf. & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Labs. for Inf. & Decision Syst., Massachusetts Inst. of Technol., Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5042157108"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":197.6454,"has_fulltext":false,"cited_by_count":82,"citation_normalized_percentile":{"value":0.99947328,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"30","issue":"2","first_page":"475","last_page":"492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.7000121474266052},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5496939420700073},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5116634368896484},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5009379386901855},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4872566759586334},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.47658559679985046},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.44640469551086426},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.42907798290252686},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3775014579296112},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32025760412216187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20652994513511658}],"concepts":[{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.7000121474266052},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5496939420700073},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5116634368896484},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5009379386901855},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4872566759586334},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.47658559679985046},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.44640469551086426},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.42907798290252686},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3775014579296112},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32025760412216187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20652994513511658},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2013.2291626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2013.2291626","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W142685375","https://openalex.org/W186433452","https://openalex.org/W629758729","https://openalex.org/W1161662587","https://openalex.org/W1592018580","https://openalex.org/W1656165940","https://openalex.org/W1891947214","https://openalex.org/W1902117024","https://openalex.org/W1937083578","https://openalex.org/W1968143987","https://openalex.org/W1968315983","https://openalex.org/W1968319517","https://openalex.org/W1972564018","https://openalex.org/W1990884907","https://openalex.org/W1991172434","https://openalex.org/W1999399477","https://openalex.org/W2006805041","https://openalex.org/W2011946889","https://openalex.org/W2024908906","https://openalex.org/W2029217875","https://openalex.org/W2029780423","https://openalex.org/W2035491427","https://openalex.org/W2037586880","https://openalex.org/W2051920189","https://openalex.org/W2052014837","https://openalex.org/W2059504953","https://openalex.org/W2065860562","https://openalex.org/W2069664630","https://openalex.org/W2081681998","https://openalex.org/W2091772525","https://openalex.org/W2095422835","https://openalex.org/W2100481345","https://openalex.org/W2107905629","https://openalex.org/W2114616381","https://openalex.org/W2116477682","https://openalex.org/W2117749802","https://openalex.org/W2119538218","https://openalex.org/W2123195103","https://openalex.org/W2126828700","https://openalex.org/W2137052305","https://openalex.org/W2139209110","https://openalex.org/W2146281661","https://openalex.org/W2148262136","https://openalex.org/W2153054365","https://openalex.org/W2154347068","https://openalex.org/W2154459632","https://openalex.org/W2155537009","https://openalex.org/W2156661261","https://openalex.org/W2164824354","https://openalex.org/W2170820055","https://openalex.org/W2296754596","https://openalex.org/W2408617662","https://openalex.org/W2471009653","https://openalex.org/W2495681058","https://openalex.org/W2505968561","https://openalex.org/W2535722635","https://openalex.org/W2548251346","https://openalex.org/W2988480584","https://openalex.org/W3122956633","https://openalex.org/W4230727657","https://openalex.org/W4246202668","https://openalex.org/W4301621763","https://openalex.org/W6605876125","https://openalex.org/W6659531432","https://openalex.org/W6697688974","https://openalex.org/W6713637219","https://openalex.org/W6729233874"],"related_works":["https://openalex.org/W2375684291","https://openalex.org/W2354676191","https://openalex.org/W3188646203","https://openalex.org/W136674370","https://openalex.org/W2909957174","https://openalex.org/W2105527480","https://openalex.org/W4320035781","https://openalex.org/W2052387497","https://openalex.org/W4246278799","https://openalex.org/W2050203848"],"abstract_inverted_index":{"Pose":[0],"graph":[1,169],"optimization":[2,82,94,170],"from":[3],"relative":[4],"measurements":[5],"is":[6,30,88,140],"challenging":[7],"because":[8],"of":[9,13,38,49,68,124,146,153,166,185],"the":[10,14,16,27,66,69,79,85,97,108,138,163],"angular":[11],"component":[12],"poses:":[15],"variables":[17],"live":[18],"on":[19,84,96],"a":[20,54,73,116,122],"manifold":[21,86],"product":[22,87],"with":[23],"nontrivial":[24],"topology":[25],"and":[26,32,175],"likelihood":[28,110],"function":[29],"nonconvex":[31],"has":[33],"many":[34],"local":[35,179],"minima.":[36],"Because":[37],"these":[39],"issues,":[40],"iterative":[41,167],"solvers":[42],"are":[43],"not":[44],"robust":[45],"to":[46,90,142,161],"large":[47],"amounts":[48,145],"noise.":[50,186],"This":[51],"paper":[52],"describes":[53],"global":[55],"estimation":[56,61,67],"method,":[57],"called":[58],"multi-hypothesis":[59],"orientation-from-lattice":[60],"in":[62,72,106,156],"2-D":[63],"(MOIE2D),":[64],"for":[65,127,182],"nodes'":[70],"orientation":[71],"pose":[74,168],"graph.":[75],"We":[76],"demonstrate":[77],"that":[78,137],"original":[80],"nonlinear":[81],"problem":[83,95],"equivalent":[89],"an":[91],"unconstrained":[92],"quadratic":[93],"integer":[98],"lattice.":[99],"Exploiting":[100],"this":[101],"insight,":[102],"we":[103,129],"show":[104,136],"that,":[105],"general,":[107],"maximum":[109],"estimate":[111],"alone":[112],"cannot":[113],"be":[114],"considered":[115],"reliable":[117],"estimator.":[118],"Therefore,":[119],"MOIE2D":[120],"returns":[121],"set":[123],"point":[125],"estimates,":[126],"which":[128],"can":[130],"derive":[131],"precise":[132],"probabilistic":[133],"guarantees.":[134],"Experiments":[135],"method":[139],"able":[141],"tolerate":[143],"extreme":[144],"noise,":[147],"far":[148],"above":[149],"all":[150],"noise":[151],"levels":[152,184],"sensors":[154],"used":[155],"applications.":[157],"Using":[158],"MOIE2D's":[159],"output":[160],"bootstrap":[162],"initial":[164],"guess":[165],"methods":[171],"improves":[172],"their":[173],"robustness":[174],"makes":[176],"them":[177],"avoid":[178],"minima":[180],"even":[181],"high":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":4}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-10T00:00:00"}
