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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Vydané v:	2023 3rd International Conference on Computer, Control and Robotics (ICCCR) s. 158 - 163
Hlavní autori:	Guo, Guanghui, Yi, Peng
Médium:	Konferenčný príspevok..
Jazyk:	English
Vydavateľské údaje:	IEEE 24.03.2023
Predmet:	Delays Distributed Optimization Manifolds Optimization methods Pose Graph Optimization Riemannian Mani-fold Search problems Simultaneous localization and mapping Transforms Turning
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