Paper:
Robust Posegraph Optimization Using Proximity Points
Yuichi Tazaki
, Kotaro Wada, Hikaru Nagano
, and Yasuyoshi Yokokohji

Graduate School of Engineering, Kobe University
Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-0013, Japan
This paper proposes a robust posegraph optimization (PGO) method for posegraphs with keypoints. In the conventional PGO formulation, a loop constraint is defined between a pair of nodes, whereas in the proposed method, it is defined between a pair of keypoints. In this manner, robust PGO based on switch variables can be realized in a more fine-grained manner. Loop constraint is defined based on the unique geometric property of proximity point, and implemented as a new edge type of the g2o solver. The proposed method is compared with other robust PGO methods using real world data recorded in Nakanoshima Robot Challenge 2021.

An example of robust posegraph optimization using proximity points
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