Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: GeoD: Consensus-based Geodesic Distributed Pose Graph Optimization   We present a consensus-based distributed pose graph optimization algorithm
for obtaining an estimate of the 3D translation and rotation of each pose in a
pose graph, given noisy relative measurements between poses. The algorithm,
called GeoD, implements a continuous time distributed consensus protocol to
minimize the geodesic pose graph error. GeoD is distributed over the pose graph
itself, with a separate computation thread for each node in the graph, and
messages are passed only between neighboring nodes in the graph. We leverage
tools from Lyapunov theory and multi-agent consensus to prove the convergence
of the algorithm. We identify two new consistency conditions sufficient for
convergence: pairwise consistency of relative rotation measurements, and
minimal consistency of relative translation measurements. GeoD incorporates a
simple one step distributed initialization to satisfy both conditions. We
demonstrate GeoD on simulated and real world SLAM datasets. We compare to a
centralized pose graph optimizer with an optimality certificate (SE-Sync) and a
Distributed Gauss-Seidel (DGS) method. On average, GeoD converges 20 times more
quickly than DGS to a value with 3.4 times less error when compared to the
global minimum provided by SE-Sync. GeoD scales more favorably with graph size
than DGS, converging over 100 times faster on graphs larger than 1000 poses.
Lastly, we test GeoD on a multi-UAV vision-based SLAM scenario, where the UAVs
estimate their pose trajectories in a distributed manner using the relative
poses extracted from their on board camera images. We show qualitative
performance that is better than either the centralized SE-Sync or the
distributed DGS methods.

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The categories of this paper are: atom-ph
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The categories of this paper are: ao-sci
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The categories of this paper are: nlin
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The categories of this paper are: cmp-lg
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The categories of this paper are: chao-dyn
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The categories of this paper are: acc-phys
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The categories of this paper are: alg-geom
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The categories of this paper are: math
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The categories of this paper are: physics
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The categories of this paper are: solv-int
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The categories of this paper are: bayes-an
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The categories of this paper are: astro-ph
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The categories of this paper are: math-ph
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The categories of this paper are: nucl-th
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The categories of this paper are: q-alg
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The categories of this paper are: q-bio