Majorization Minimization Methods for Distributed Pose Graph Optimization with Convergence Guarantees
Taosha Fan,Todd Murphey,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 propose majorization minimization methods for distributed PGO and show that our methods are guaranteed to converge to first-order critical points under mild conditions. Furthermore, since our methods rely a proximal oper...
