An Asynchronous Parallel Algorithm Framework for Decentralized Pose Graph Optimization

This paper proposes an asynchronous parallel algorithm framework for decentralized pose graph optimization (PGO) in collaborative simultaneous localization and mapping. Our framework combines and generalizes the superiority of the existing works on PGO. Specifically, we decompose the objective funct...

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Veröffentlicht in:	2023 3rd International Conference on Computer, Control and Robotics (ICCCR) S. 158 - 163
Hauptverfasser:	Guo, Guanghui, Yi, Peng
Format:	Tagungsbericht
Sprache:	Englisch
Veröffentlicht:	IEEE 24.03.2023
Schlagworte:	Delays Distributed Optimization Manifolds Optimization methods Pose Graph Optimization Riemannian Mani-fold Search problems Simultaneous localization and mapping Transforms Turning
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