tjcunhao / dpo

We propose a novel distributed pose graph optimization algorithm combining multi-level partitioning with an accelerated Riemannian optimization method.

distributed-pose-graph

We propose a novel distributed pose graph optimization algorithm combining multi-level partitioning with an accelerated Riemannian optimization method.

Inside the C++ directory, execute the following commands.

mkdir build
cd build
cmake ../
make
cd bin
./multi-robot-example