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A Spanning Tree-Based Multi-Resolution Approach for Pose-Graph Optimization
- Source :
- IEEE Robotics and Automation Letters. 7(4):10033-10040
- Publication Year :
- 2022
- Publisher :
- Institute of Electrical and Electronics Engineers (IEEE), 2022.
-
Abstract
- This paper proposes a computationally efficient method for pose-graph optimization that makes use of a multi-resolution representation of pose-graph transformation constructed on a spanning tree. It is shown that the proposed spanning tree-based hierarchy has a number of advantages over the previously known serial chain-based hierarchy in terms of preservation of sparsity and compatibility with parallel computation. It is demonstrated in numerical experiments using several public datasets that the proposed method outperforms a state-of-the-art solver for large-scale datasets.
Details
- Language :
- English
- ISSN :
- 23773766
- Volume :
- 7
- Issue :
- 4
- Database :
- OpenAIRE
- Journal :
- IEEE Robotics and Automation Letters
- Accession number :
- edsair.doi.dedup.....31a591128d35146f20f47175c7b637d0