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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Bibliographic Details

Published in:	2023 3rd International Conference on Computer, Control and Robotics (ICCCR) pp. 158 - 163
Main Authors:	Guo, Guanghui, Yi, Peng
Format:	Conference Proceeding
Language:	English
Published:	IEEE 24.03.2023
Subjects:	Delays Distributed Optimization Manifolds Optimization methods Pose Graph Optimization Riemannian Mani-fold Search problems Simultaneous localization and mapping Transforms Turning
Online Access:	Get full text
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