Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation
Yulun Tian,Amrit Singh Bedi,Alec Koppel,Miguel Calvo-Fullana,David M. Rosen,Jonathan P. How,Yulun Tian,Amrit Singh Bedi,Alec Koppel,Miguel Calvo-Fullana,David M. Rosen,Jonathan P. How
We present the first distributed optimization al-gorithm with lazy communication for collaborative geometric estimation, the backbone of modern collaborative simultaneous localization and mapping (SLAM) and structure-from-motion (SfM) applications. Our method allows agents to cooperatively reconstruct a shared geometric model on a central server by fusing individual observations, but without the n...
