Thi repository implements the Distributed Gauss-Seidel algorithm for pose graph optimization in addition to the Pairwise Consistency Maximization for outlier rejection.
If you use this work, please cite any of the following publications:
For the distributed PGO implementation cite:
@inproceedings{Choudhary16icra, author = {Siddharth Choudhary and Luca Carlone and Carlos Nieto and John Rogers and Henrik I. Christensen and Frank Dellaert}, title = {Distributed Trajectory Estimation with Privacy and Communication Constraints: a Two-Stage Distributed Gauss-Seidel Approach}, booktitle = {IEEE International Conference on Robotics and Automation 2016}, year = {2016} } @article{Choudhary17arXiv, author = {Siddharth Choudhary and Luca Carlone and Carlos Nieto{-}Granda and John G. Rogers III and Henrik I. Christensen and Frank Dellaert}, title = {Distributed Mapping with Privacy and Communication Constraints: Lightweight Algorithms and Object-based Models}, journal = {CoRR}, volume = {abs/1702.03435}, year = {2017}, url = {http://arxiv.org/abs/1702.03435}, } For the outlier rejection implementation cite:
@inproceedings{mangelsonPairwiseConsistentMeasurement2018, title = {Pairwise {{Consistent Measurement Set Maximization}} for {{Robust Multi-Robot Map Merging}}}, booktitle = {2018 {{IEEE International Conference}} on {{Robotics}} and {{Automation}} ({{ICRA}})}, author = {Mangelson, Joshua G. and Dominic, Derrick and Eustice, Ryan M. and Vasudevan, Ram}, year = {2018}, month = may, pages = {2916--2923}, issn = {2577-087X}, doi = {10.1109/ICRA.2018.8460217} } @article{lajoieDOORSLAMDistributedOnline2020, title = {{{DOOR}}-{{SLAM}}: {{Distributed}}, {{Online}}, and {{Outlier Resilient SLAM}} for {{Robotic Teams}}}, shorttitle = {{{DOOR}}-{{SLAM}}}, author = {Lajoie, Pierre-Yves and Ramtoula, Benjamin and Chang, Yun and Carlone, Luca and Beltrame, Giovanni}, year = {2020}, month = apr, volume = {5}, pages = {1656--1663}, issn = {2377-3766}, doi = {10.1109/LRA.2020.2967681}, number = {2} }