This paper focuses on developing a performance guaranteed state estimation algorithm for 2D pose graph problems for mobile robots. Different from probabilistic methods, the measurement noises are only ...

1.Load and visualize dataset (optional PCA for 2D view). 2.Fit K-Means and assign cluster labels. 3.Use the Elbow Method to find optimal K. 4.Visualize clusters with color-coding. 5.Evaluate ...