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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 39, 2022 No. 10
3065-3070

Fast pose graph optimization algorithm based on eigen decomposition

Li Yujiea
Wei Guoliangb
Cai Jiea
Wang Miaomiaoa
a. College of Science, b. Business School, University of Shanghai for Science & Technology, Shanghai 200093, China
DOI: 10.19734/j.issn.1001-3695.2022.02.0122

Abstract

Pose graph optimization(PGO) is a high dimensional non-convex optimization algorithm widely used in the field of computer vision. It is hard to solve directly and mainly relies on iterative techniques. It requires high quality of initial value which is difficult to be guaranteed in practice. This paper studied PGO problem and proposed a simple closed solution algorithm for pose graph based on eigen decomposition. This algorithm first developed the semidefinite relaxation of maximum-likelihood estimation(MLE) for PGO problems. Then it transformed MLE into eigen decomposition problem, and designed an improved model reduction method to solve the problem by using the sparsity of data, which further improved the computational speed of the algorithm. The algorithm had the advantages of scalability, low computational cost and high precision. Finally, experimental evaluation on simulated and real-world pose-graph datasets shows that the proposed algorithm can optimize the pose graph quickly without compromising accuracy.

Foundation Support

上海市“科技创新行动计划”国内科技合作项目(20015801100)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.02.0122
Publish at: Application Research of Computers Printed Article, Vol. 39, 2022 No. 10
Section: Algorithm Research & Explore
Pages: 3065-3070
Serial Number: 1001-3695(2022)10-028-3065-06

Publish History

[2022-05-24] Accepted Paper
[2022-10-05] Printed Article

Cite This Article

李雨洁, 魏国亮, 蔡洁, 等. 基于特征分解的快速位姿图优化算法 [J]. 计算机应用研究, 2022, 39 (10): 3065-3070. (Li Yujie, Wei Guoliang, Cai Jie, et al. Fast pose graph optimization algorithm based on eigen decomposition [J]. Application Research of Computers, 2022, 39 (10): 3065-3070. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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