DPGO

Introduction

This repository contains implementation of synchronous and asynchronous Distributed Pose Graph Optimization (DPGO). The algorithms are described in the following publications:

• Y. Tian, K. Khosoussi, D. M. Rosen, J. P. How. Distributed Certifiably Correct Pose-Graph Optimization, in IEEE Transactions on Robotics, 2021.

• Y.Tian, A. Koppel, A. S. Bedi, J. P. How. Asynchronous and Parallel Distributed Pose Graph Optimization, in IEEE Robotics and Automation Letters, RA-L best paper honorable mention, 2020.

Building the C++ Library

Install dependencies.

sudo apt-get install build-essential cmake-gui libsuitesparse-dev

Inside the C++ directory, execute the following commands.

mkdir build
cd build
cmake ../
make

The built executables are located in directory build/bin. For a serialized demo of distributed PGO on one of the benchmark datasets, inside the build directory run:

./bin/multi-robot-example 5 ../data/smallGrid3D.g2o

Optionally, run the unit tests by,

./bin/testDPGO

ROS Support

A ROS wrapper of dpgo is provided: dpgo_ros. If you want to use dpgo with ROS, please follow instructions in the README.

References

If you find this library useful, please consider citing our papers:

@ARTICLE{Tian2021Distributed,
  author={Tian, Yulun and Khosoussi, Kasra and Rosen, David M. and How, Jonathan P.},
  journal={IEEE Transactions on Robotics}, 
  title={Distributed Certifiably Correct Pose-Graph Optimization}, 
  year={2021},
  volume={},
  number={},
  pages={1-20},
  doi={10.1109/TRO.2021.3072346}}

@ARTICLE{Tian2020Asynchronous,
  author={Tian, Yulun and Koppel, Alec and Bedi, Amrit Singh and How, Jonathan P.},
  journal={IEEE Robotics and Automation Letters}, 
  title={Asynchronous and Parallel Distributed Pose Graph Optimization}, 
  year={2020},
  volume={5},
  number={4},
  pages={5819-5826},
  doi={10.1109/LRA.2020.3010216}}