Reference : Distributed synchronization of euclidean transformations with guaranteed convergence
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Electrical & electronics engineering
Computational Sciences
http://hdl.handle.net/10993/34953
Distributed synchronization of euclidean transformations with guaranteed convergence
English
Thunberg, Johan mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Goncalves, Jorge mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Bernard, Florian mailto [Saarland Informatics Campus > Max Planck Institute for Informatics]
Dec-2017
56th IEEE Conference on Decision and Control
Yes
International
56th IEEE Conference on Decision and Control
from 12-12-2017 to 15-12-2017
IEEE
Melbourne
Australia
[en] pose averaging ; distributed optimization ; multi-agent systems
[en] This paper addresses synchronization of Euclidean transformations over graphs. Synchronization in this context, unlike rendezvous or consensus, means that composite transformations over loops in the graph are equal to the identity. Given a set of non-synchronized transformations, the problem at hand is to find a set of synchronized transformations approximating well the non-synchronized transformations. This is formulated as a nonlinear least-squares optimization problem. We present a distributed synchronization algorithm that converges to the optimal solution to an approximation of the optimization problem. This approximation stems from a spectral relaxation of the rotational part on the one hand and from a separation between the rotations and the translations on the other. The method can be used to distributively improve the measurements obtained in sensor networks such as networks of cameras where pairwise relative transformations are measured. The convergence of the method is verified in numerical simulations.
Fonds National de la Recherche - FnR
Researchers
http://hdl.handle.net/10993/34953
10.1109/CDC.2017.8264211
The original publication is available at IEEE Xplore.

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