Discrete-Continuous Smoothing and Mapping

摘要

We describe a general approach for maximum <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">a posteriori</i> (MAP) inference in a class of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">discrete-continuous factor graphs</i> commonly encountered in robotics applications. While there are openly available tools providing flexible and easy-to-use interfaces for specifying and solving inference problems formulated in terms of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">either</i> discrete <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">or</i> continuous graphical models, at present, no similarly general tools exist enabling the same functionality for <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">hybrid</i> discrete-continuous problems. We aim to address this problem. In particular, we provide a library, DC-SAM, extending existing tools for inference problems defined in terms of factor graphs to the setting of discrete-continuous models. A key contribution of our work is a novel solver for efficiently recovering approximate solutions to discrete-continuous inference problems. The key insight to our approach is that while joint inference over continuous and discrete state spaces is often hard, many commonly encountered discrete-continuous problems can naturally be split into a “discrete part” and a “continuous part” that can individually be solved easily. Leveraging this structure, we optimize discrete and continuous variables in an alternating fashion. In consequence, our proposed work enables straightforward representation of and approximate inference in discrete-continuous graphical models. We also provide a method to approximate the uncertainty in estimates of both discrete and continuous variables. We demonstrate the versatility of our approach through its application to distinct robot perception applications, including robust pose graph optimization, and object-based mapping and localization.