wuyou33/cpl-sync

An implementation of the CPL-Sync algorithm for planar pose graph optimization (PGO)

Note: It is important to use our provided Eigen library or CholmodSupport.h when compiling CPL-Sync.

CPL-Sync

CPL-Sync is an efficient and certifiably correct algorithm that solves planar pose graph optimization (PGO) using the complex number representation.

This repository features 2 algorithms

• SE-Sync: a certifiably correct algorithm for performing synchronization over the special Euclidean group.

• CPL-Sync: a certifiably correct algorithm for performing synchronization over SE(2) using the complex number representation.

The performance comparison of SE-Sync and CPL-Sync on planar PGO is shown as follows:

  

Getting Started

Note: It is important to use our provided Eigen library or CholmodSupport.h when compiling CPL-Sync.

The C++ implementation of CPL-Sync can be built and exported as a CMake project. For a minimal working example, see examples/cpl_sync, which provides a simple command-line utility for processing .g2o files.

Acknowledgements

We use David M. Rosen's optimizaiton tools and Yixuan Qiu's Spectra in our CPL-Sync.

Copyright and License

The C++ implementations of CPL-Sync contained herein are copyright (C) 2018 - 2019 by Taosha Fan, and are distributed under the terms of the GNU Lesser General Public License (LGPL) version 3 (or later). Please see the LICENSE for more information.

Contact: [email protected]