Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via
  Sparse-Bounded Sums-of-Squares Programming   Autonomous navigation requires an accurate model or map of the environment.
While dramatic progress in the prior two decades has enabled large-scale SLAM,
the majority of existing methods rely on non-linear optimization techniques to
find the MLE of the robot trajectory and surrounding environment. These methods
are prone to local minima and are thus sensitive to initialization. Several
recent papers have developed optimization algorithms for the Pose-Graph SLAM
problem that can certify the optimality of a computed solution. Though this
does not guarantee a priori that this approach generates an optimal solution, a
recent extension has shown that when the noise lies within a critical threshold
that the solution to the optimization algorithm is guaranteed to be optimal. To
address the limitations of existing approaches, this paper illustrates that the
Pose-Graph SLAM and Landmark SLAM can be formulated as polynomial optimization
programs that are SOS convex. This paper then describes how the Pose-Graph and
Landmark SLAM problems can be solved to a global minimum without initialization
regardless of noise level using the Sparse-BSOS hierarchy. This paper also
empirically illustrates that convergence happens at the second step in this
hierarchy. In addition, this paper illustrates how this Sparse-BSOS hierarchy
can be implemented in the complex domain and empirically shows that convergence
happens also at the second step of this complex domain hierarchy. Finally, the
superior performance of the proposed approach when compared to existing SLAM
methods is illustrated on graphs with several hundred nodes.

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The categories of this paper are: hep-ex
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The categories of this paper are: supr-con
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The categories of this paper are: nucl-ex
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The categories of this paper are: quant-ph
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The categories of this paper are: gr-qc
2
The categories of this paper are: math
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The categories of this paper are: hep-lat
34
The categories of this paper are: chem-ph
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The categories of this paper are: hep-th
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The categories of this paper are: q-alg
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The categories of this paper are: nlin
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The categories of this paper are: econ
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The categories of this paper are: astro-ph
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The categories of this paper are: solv-int
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The categories of this paper are: mtrl-th
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The categories of this paper are: alg-geom