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dc.contributor.authorTron, Roberto
dc.contributor.authorCarlone, Luca
dc.contributor.authorDellaert, Frank
dc.contributor.authorDaniilidis, Kostas
dc.date.accessioned2016-07-29T18:42:01Z
dc.date.available2016-07-29T18:42:01Z
dc.date.issued2015
dc.identifier.citationTron, R., Carlone, L., Dellaert, F. & Daniilidis, K. (2015). Rigid Components Identification and Rigidity Control in Bearing-Only Localization Using the Graph Cycle Basis. American Control Conference (ACC 2015), Chicago, IL, 2015, pp. 3911-3918.en_US
dc.identifier.isbn978-1-4799-8685-9
dc.identifier.issn0743-1619
dc.identifier.urihttp://hdl.handle.net/1853/55418
dc.description© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionDOI: 10.1109/ACC.2015.7171940
dc.description.abstractBearing-only localization can be formulated in terms of optimal graph embedding: one has to assign a 2-D or 3-D position to each node in a graph while satisfying as close as possible all the bearing-only constraints on the edges. If the graph is parallel rigid, this can be done via spectral methods. When the graph is not rigid the reconstruction is ambiguous, as different subsets of vertices can be scaled differently. It is therefore important to first identify a partition of the problem into maximal rigid components. In this paper we show that the cycle basis matrix of the graph not only translates into an algorithm to identify all rigid sub-graphs, but also provides a more intuitive way to look at graph rigidity, showing, for instance, why triangulated graphs are rigid and why graphs with long cycles may loose this property. Furthermore, it provides practical tools to enforce rigidity by adding a minimal number of measurements.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectBearing-only localizationen_US
dc.subjectMaximal rigid componentsen_US
dc.subjectOptimal graph embeddingen_US
dc.subjectParallel rigiden_US
dc.subjectSpectral methodsen_US
dc.titleRigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basisen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameGeorgia Institute of Technology. College of Computingen_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Interactive Computingen_US
dc.contributor.corporatenameUniversity of Pennsylvania. Department of Computer and Information Scienceen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.identifier.doi10.1109/ACC.2015.7171940
dc.embargo.termsnullen_US


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