most citedMajorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees

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math.OC2020★ 22 cited

Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees

Taosha Fan, Todd Murphey

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…