Pose Graph Optimization over Planar Unit Dual Quaternions: Improved Accuracy with Provably Convergent Riemannian Optimization - William D. Warke; J. Humberto Ramos; Prashant Ganesh; Kevin M. Brink; Matthew T. Hale (IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, United Arab Emirates, October 14-18, 2024, 2024)