Pose graph optimization is recast as damped Riemannian dynamics on Lie groups, enabling a fully distributed algorithm with a semi-implicit integrator that converges under both synchronous and asynchronous communication.
arXiv preprint arXiv:2010.00156 , year=
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UbiSLAM uses fixed RGB-D camera networks to create continuously updated centralized maps that improve robot localization accuracy and reduce onboard computational load in dynamic indoor environments.
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Distributed Pose Graph Optimization via Continuous Riemannian Dynamics
Pose graph optimization is recast as damped Riemannian dynamics on Lie groups, enabling a fully distributed algorithm with a semi-implicit integrator that converges under both synchronous and asynchronous communication.
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Towards Ubiquitous Mapping and Localization for Dynamic Indoor Environments
UbiSLAM uses fixed RGB-D camera networks to create continuously updated centralized maps that improve robot localization accuracy and reduce onboard computational load in dynamic indoor environments.