Distributed Pose-Graph Optimization With Multi-Level Partitioning for Multi-Robot SLAM
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DOI: 10.1109/lra.2024.3382531
Abstract: The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as $SE(d)$-synchronization. Most existing distributed graph optimization algorithms employ a… read more here.
Keywords: multi level; graph optimization; pose graph; distributed pose ... See more keywords