App. Res. of Comp. Accepted Paper
Vol. 41, 2024 No. 5

Hierarchical pose graph optimization algorithm based on nested dissection

Jian Dana
Wei Guoliangb
Cai Jie A
Wang Yaolei A
a. College of Science, University of Shanghai for Science & Technology, b. Business School, University of Shanghai for Science & Technology, Shanghai 200093, China
DOI: 10.19734/j.issn.1001-3695.2023.08.0386

Abstract

Pose graph optimization (PGO) is a high-dimensional non-convex optimization algorithm commonly used in the back-end optimization of Simultaneous Localization and Mapping (SLAM) , which is usually modeled as maximum likelihood estimation. Since the current PGO algorithm faces difficulties in improving speed while ensuring accuracy when optimizing large-scale noise datasets. Therefore, this paper proposed a hierarchical pose graph optimization algorithm based on nested dissection algorithm for large noise datasets. The algorithm first established a chi-square test model with different distance measures, and then removed outlier points. Secondly, it used nested dissection method to split the original pose graph into a set of subgraphs and extracted a skeleton graph from these subgraphs. The skeleton represent the abstract topology of the original SLAM problem. Then, the algorithm optimized the skeleton graph and completed the initialization. Finally, experimental evaluation on simulated and real pose graph datasets show that the proposed algorithm can improve the calculation speed and scalability of the algorithm without affecting the accuracy.

Foundation Support

国家自然科学基金资助项目(62273239)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.08.0386
Publish at: Application Research of Computers Accepted Paper, Vol. 41, 2024 No. 5

Publish History

[2023-11-01] Accepted Paper

Cite This Article

简单, 魏国亮, 蔡洁, 等. 基于嵌套剖分的位姿图分层优化算法 [J]. 计算机应用研究, 2024, 41 (5). (2024-04-10). https://doi.org/10.19734/j.issn.1001-3695.2023.08.0386. (Jian Dan, Wei Guoliang, Cai Jie, et al. Hierarchical pose graph optimization algorithm based on nested dissection [J]. Application Research of Computers, 2024, 41 (5). (2024-04-10). https://doi.org/10.19734/j.issn.1001-3695.2023.08.0386. )

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  • Application Research of Computers Monthly Journal
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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.

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