Related papers: Sparse Pose Graph Optimization in Cycle Space
Pose graph optimization is a special case of the simultaneous localization and mapping problem where the only variables to be estimated are pose variables and the only measurements are inter-pose constraints. The vast majority of pose graph…
The objective of pose SLAM or pose-graph optimization (PGO) is to estimate the trajectory of a robot given odometric and loop closing constraints. State-of-the-art iterative approaches typically involve the linearization of a non-convex…
Pose Graph Optimization (PGO) is an important non-convex optimization problem and is the state-of-the-art formulation for SLAM in robotics. It also has applications like camera motion estimation, structure from motion and 3D reconstruction…
Distributed pose graph optimization (DPGO) is one of the fundamental techniques of swarm robotics. Currently, the sub-problems of DPGO are built on the native poses. Our validation proves that this approach may introduce an imbalance in the…
Pose Graph Optimization (PGO) is the problem of estimating a set of poses from pairwise relative measurements. PGO is a nonconvex problem, and currently no known technique can guarantee the computation of an optimal solution. In this paper,…
We present a framework for distributed Pose Graph Optimization (PGO) by formulating the problem as a second-order continuous-time dynamical system evolving on Lie groups. By modeling pose variables as massive particles subject to damping,…
A new efficient algorithm is presented for finding all simple cycles that satisfy a length constraint in a directed graph. When the number of vertices is non-trivial, most cycle-finding problems are of practical interest for sparse graphs…
In this paper, we consider the problem of distributed pose graph optimization (PGO) that has extensive applications in multi-robot simultaneous localization and mapping (SLAM). We propose majorization minimization methods to distributed PGO…
Pose graph optimization (PGO) is a well-known technique for solving the pose-based simultaneous localization and mapping (SLAM) problem. In this paper, we represent the rotation and translation by a unit quaternion and a three-dimensional…
Distributed optimization aims to leverage the local computation and communication capabilities of each agent to achieve a desired global objective. This paper addresses the distributed pose graph optimization (PGO) problem under non-convex…
In this paper, we generalize proximal methods that were originally designed for convex optimization on normed vector space to non-convex pose graph optimization (PGO) on special Euclidean groups, and show that our proposed generalized…
This paper presents the first certifiably correct algorithm for distributed pose-graph optimization (PGO), the backbone of modern collaborative simultaneous localization and mapping (CSLAM) and camera network localization (CNL) systems. Our…
In this paper we consider a hierarchical pose graph optimization (HPGO) for Simultaneous Localization and Mapping (SLAM). We propose a fast incremental procedure for building hierarchy levels in pose graphs. We study the properties of this…
The precise estimation of camera poses within large camera networks is a foundational problem in computer vision and robotics, with broad applications spanning autonomous navigation, surveillance, and augmented reality. In this paper, we…
We consider the problem of detecting a cycle in a directed graph that grows by arc insertions, and the related problems of maintaining a topological order and the strong components of such a graph. For these problems, we give two…
We study the problems of finding a minimum cycle basis (a minimum weight set of cycles that form a basis for the cycle space) and a minimum homology basis (a minimum weight set of cycles that generates the $1$-dimensional…
We initiate the algorithmic study of retracting a graph into a cycle in the graph, which seeks a mapping of the graph vertices to the cycle vertices, so as to minimize the maximum stretch of any edge, subject to the constraint that the…
We present ROBO (Riemannian Overlapping Block Optimization), a distributed and parallel approach to multi-robot pose graph optimization (PGO) based on the idea of overlapping domain decomposition. ROBO offers a middle ground between…
Pose-Graph optimization is a crucial component of many modern SLAM systems. Most prominent state of the art systems address this problem by iterative non-linear least squares. Both number of iterations and convergence basin of these…
Bayesian optimization (BO) is a powerful framework for optimizing expensive black-box objectives, yet extending it to graph-structured domains remains challenging due to the discrete and combinatorial nature of graphs. Existing approaches…