navlie: A Python Package for State Estimation on Lie Groups

[PDF] arxiv.org

A Hessian for Gaussian Mixture Likelihoods in Nonlinear Least Squares

V Korotkine, M Cohen, JR Forbes - arXiv preprint arXiv:2404.05452, 2024 - arxiv.org
This paper proposes a novel Hessian approximation for Maximum a Posteriori estimation
problems in robotics involving Gaussian mixture likelihoods. The proposed Hessian leads to …
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