Majorization Minimization Methods to Distributed Pose Graph Optimization with Convergence Guarantees

03/11/2020
by   Taosha Fan, et al.
0

In this paper, we consider the problem of distributed pose graph optimization (PGO) that has extensive applications in multi-robot simultaneous localization and mapping (SLAM). We propose majorization minimization methods to distributed PGO and show that our proposed methods are guaranteed to converge to first-order critical points under mild conditions. Furthermore, since our proposed methods rely a proximal operator of distributed PGO, the convergence rate can be significantly accelerated with Nesterov's method, and more importantly, the acceleration induces no compromise of theoretical guarantees. In addition, we also present accelerated majorization minimization methods to the distributed chordal initialization that have a quadratic convergence, which can be used to compute an initial guess for distributed PGO. The efficacy of this work is validated through applications on a number of 2D and 3D SLAM datasets and comparisons with existing state-of-the-art methods, which indicates that our proposed methods have faster convergence and result in better solutions to distributed PGO.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
07/30/2021

Majorization Minimization Methods for Distributed Pose Graph Optimization

We consider the problem of distributed pose graph optimization (PGO) tha...
research
12/04/2020

Generalized Proximal Methods for Pose Graph Optimization

In this paper, we generalize proximal methods that were originally desig...
research
06/25/2020

CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation

In this paper, we consider the problem of planar graph-based simultaneou...
research
05/06/2023

Adam-family Methods for Nonsmooth Optimization with Convergence Guarantees

In this paper, we present a comprehensive study on the convergence prope...
research
10/10/2022

Spectral Sparsification for Communication-Efficient Collaborative Rotation and Translation Estimation

We propose fast and communication-efficient distributed algorithms for r...
research
03/02/2022

Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation

We present the first distributed optimization algorithm with lazy commun...
research
10/01/2020

GeoD: Consensus-based Geodesic Distributed Pose Graph Optimization

We present a consensus-based distributed pose graph optimization algorit...

Please sign up or login with your details

Forgot password? Click here to reset