Implementation of Exact (Nijenhuis and Wilf) and Approximate (Huber and Law) Permanent Algorithms

• Authors: Nikolay Atanasov, Sean Bowman, Brian Butler

Related Publications:

@article{Atanasov_SemanticLocalization_IJRR15,
  author = {N. Atanasov and M. Zhu and K. Daniilidis and G. Pappas},
  title = {Localization from Semantic Observations via the Matrix Permanent},
  journal = {The International Journal of Robotics Research (IJRR)},
  year = {2015},
  volume = {35},
  pages = {73-99},
  doi = {http://www.dx.doi.org/10.1177/0278364915596589}
}

@inproceedings{Bowman_SemanticSLAM_ICRA17,
  author = {Sean Bowman and Nikolay Atanasov and Kostas Daniilidis and George Pappas},
  title = {Probabilistic Data Association for Semantic SLAM},
  booktitle = {IEEE Int. Conf. on Robotics and Automation (ICRA)},
  year = {2017},
  doi = {http://www.dx.doi.org/10.1109/ICRA.2017.7989203}
}    

Compilation:

• c++:

mkdir build && cd build && cmake .. && make && cd ..

• matlab:

mex src/permanentRNW_mex.cpp -outdir bin