• https://cggos.github.io/archive.html?tag=StateEstimation

[TOC]

• MAP (Maximum A Posteriori)

• MLE (Maximum Likelihood Estimate)

  • 模型已定，参数未知：找出一组参数，使得模型产生出观测数据的概率最大，即找出一组能使似然函数最大的参数

• MLS (Minimum Least Squares)

  • OLS (Ordinary Least Squares)
  • WLS (Weighted Least Squares)

• M-estimators

• MLESAC: A New Robust Estimator with Application to Estimating Image Geometry

• 读懂概率图：你需要从基本概念和参数估计开始

• Probabilistic Graphical Models (10-708, Spring 2014)

• Probabilistic inference and factor graphs

• pgmpy

• OpenGM: a C++ template library for discrete factor graph models and distributive operations on these models

• Gauss Newton

• Levenberg-Marquadt

  • sparseLM : Sparse Levenberg-Marquardt nonlinear least squares in C/C++

• ESM

• immoptibox: A MATLAB TOOLBOX FOR OPTIMIZATION AND DATA FITTING

• NLopt is a library for nonlinear local and global optimization, for functions with and without gradient information

• g2o: A General Framework for Graph Optimization

  • Ubuntu 16.04.1 :: error while trying to run g2o_viewer
  • g2o_viewer error
  • SLAM Implementation: Bundle Adjustment with g2o

• Ceres Solver: an open source C++ library for modeling and solving large, complicated optimization problems

  • Ceres-Solver 从入门到上手视觉SLAM位姿优化问题

• GTSAM

• TORO (Tree-based netwORk Optimizer) is an optimization approach for constraint-network

• vertigo (Versatile Extensions for RobusT Inference using Graph Optimization) is an extension library for g2o and gtsam 2.0

• OR-Tools is an open source software suite for optimization, tuned for tackling the world's toughest problems in vehicle routing, flows, integer and linear programming, and constraint programming.

Sparse Hessian matrix :

• Bundle Adjustment in the Large

• g2o format datasets – Luca Carlone
• sphere.g2o

• Probability, Statistics and Random Processes

• STATE ESTIMATION FOR ROBOTICS

• Probabilistic Robotics

  • pptacher/probabilistic_robotics: solution of exercises of the book "probabilistic robotics"

• Factor Graphs for Robot Perception