Towards Certifiable State Estimation under Observability Degeneracy
From the abstract
Certifiable optimization provides global optimality guarantees for non-convex state estimation in robotics. However, under severe physical sensing degeneracy, convex Semidefinite Programming relaxations solved via Interior-Point Methods suffer from rank expansion, rendering direct semidefinite solving and spectral rounding algebraically invalid.
From the abstract. Our summary is in progress.
The full text is not republished here because the paper's license does not allow it. Read the original on arXiv.