A Comparison of Graph Optimization Approaches for Pose Estimation in SLAM

摘要

Simultaneous localization and mapping (SLAM) is an important tool that enables autonomous navigation of mobile robots through unknown environments. As the name SLAM suggests, it is important to obtain a correct representation of the environment and estimate a correct trajectory of the robot poses in the map. Dominant state-of-the-art approaches solve the pose estimation problem using graph optimization techniques based on the least squares minimization method. Among the most popular approaches are libraries such as g <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> o, Ceres, GTSAM and SE-Sync. The aim of this paper is to describe these approaches in a unified manner and to evaluate them on an array of publicly available synthetic and real-world pose graph datasets. In the evaluation experiments, the computation time and the value of the objective function of the four optimization libraries are analyzed.