Factor Graphs in Optimization-Based Robotic Control—A Tutorial and Review

Factor graphs, initially developed as probabilistic graphical models, have been widely employed for solving large-scale inference problems in robotics, particularly in tasks such as pose estimation, Structure from Motion (SfM), or Simultaneous Localization and Mapping (SLAM). Their capability to eff...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Anas Abdelkarim, Holger Voos, Daniel Gorges
Format:	Article
Language:	English
Published:	IEEE 2025-01-01
Subjects:	Factor graphs constrained factor graphs robotic control slam situational awareness robotic perception
Online Access:	https://ieeexplore.ieee.org/document/10855417/