Asynchronous and Parallel Distributed Pose Graph Optimization

Asynchronous and Parallel Distributed Pose Graph Optimization

© 2016 IEEE. We present Asynchronous Stochastic Parallel Pose Graph Optimization ($\textsc {ASAPP}$), the first asynchronous algorithm for distributed pose graph optimization (PGO) in multi-robot simultaneous localization and mapping. By enabling robots to optimize their local trajectory estimates w...

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Bibliographic Details
Main Authors: Tian, Yulun, Koppel, Alec, Bedi, Amrit Singh, How, Jonathan P
Other Authors: Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2021
Online Access:https://hdl.handle.net/1721.1/135250

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