August 21, 2018
SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group
International Journal of Robotics Research
Many important geometric estimation problems naturally take the form of synchronization over the special Euclidean group: estimate the values of a set of unknown group elements x1, . . . , xn ∈ SE(d) given noisy measurements of a subset of their pairwise relative transforms xi−1xj. Examples of this class include the foundational problems of pose-graph simultaneous localization and mapping (SLAM) (in robotics), camera motion estimation (in computer vision), and sensor network localization (in distributed sensing), among others. This inference problem is typically formulated as a nonconvex maximum-likelihood estimation that is computationally hard to solve in general. Nevertheless, in this paper we present an algorithm that is able to efficiently recover certifiably globally optimal solutions of the special Euclidean synchronization problem in a non-adversarial noise regime.
By: David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard