Efficient Range-Constraint Manifold Optimization with Application to Cooperative Navigation
Efficient Range-Constraint Manifold Optimization with Application to Cooperative Navigation
复制标题
高效范围约束流形优化及其在协作导航中的应用
DOI：
--
复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
F. Dellaert
中科院分区：
文献类型：
--
作者：
Yetong Zhang;Gerry Chen;Adam J. Rutkowski;F. Dellaert
我们提出了一种流形优化方法来解决具有范围约束的推理和规划问题。我们方法的核心是定义表示具有范围约束的点或姿势的流形。我们发现范围约束点的流形在刚性变换群作用下是齐次的，并利用群作用推导出流形的切空间、收缩和拓扑。我们评估了流形优化方法在解决范围约束推理问题上相对于最先进的约束优化方法的性能。结果表明，使用范围约束流形进行流形优化可以实现更快的速度和更好的约束满足。我们进一步研究了推理问题的条件，在实践中我们可以将范围测量视为约束。
We present a manifold optimization approach to solve inference and planning problems with range constraints. The core of our approach is the definition of a manifold that represents points or poses with range constraints. We discover that the manifold of range-constrained points is homogeneous under the rigid transformation group action, and utilize the group action to derive the tangent space, retraction and topology of the manifold. We evaluate the performance of manifold optimization approach on solving range-constrained inference problems over state-of-the-art constrained optimization methods. The results show that manifold optimization with the range-constraint manifold achieves both faster speed and better constraint satisfaction. We further study the conditions of inference problems that we can treat range measurements as constraints in practice.
矩阵李群上的稀疏高斯过程：优化连续时间轨迹的统一框架
DOI：
--
发表时间：
2018
期刊：
IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Dong, Jing;Mukadam, Mustafa;Boots, Byron;Dellaert, Frank
通讯作者：
Dellaert, Frank