Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Globally optimal consensus maximization for robust visual inertial
  localization in point and line map   Map based visual inertial localization is a crucial step to reduce the drift
in state estimation of mobile robots. The underlying problem for localization
is to estimate the pose from a set of 3D-2D feature correspondences, of which
the main challenge is the presence of outliers, especially in changing
environment. In this paper, we propose a robust solution based on efficient
global optimization of the consensus maximization problem, which is insensitive
to high percentage of outliers. We first introduce translation invariant
measurements (TIMs) for both points and lines to decouple the consensus
maximization problem into rotation and translation subproblems, allowing for a
two-stage solver with reduced solution dimensions. Then we show that (i) the
rotation can be calculated by minimizing TIMs using only 1-dimensional
branch-and-bound (BnB), (ii) the translation can be found by running
1-dimensional search for three times with prioritized progressive voting.
Compared with the popular randomized solver, our solver achieves deterministic
global convergence without depending on an initial value. While compared with
existing BnB based methods, ours is exponentially faster. Finally, by
evaluating the performance on both simulation and real-world datasets, our
approach gives accurate pose even when there are 90\% outliers (only 2
inliers).

2
The categories of this paper are: math
35
The categories of this paper are: mtrl-th
5
The categories of this paper are: gr-qc
22
The categories of this paper are: chao-dyn
16
The categories of this paper are: stat
0
The categories of this paper are: hep-ph
13
The categories of this paper are: quant-ph
4
The categories of this paper are: cond-mat
34
The categories of this paper are: chem-ph
21
The categories of this paper are: adap-org
17
The categories of this paper are: q-fin
37
The categories of this paper are: supr-con
10
The categories of this paper are: q-bio
11
The categories of this paper are: hep-lat
29
The categories of this paper are: funct-an
18
The categories of this paper are: econ