Note: It is important to use our provided Eigen library or CholmodSupport.h when compiling 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
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SE-Sync: a certifiably correct algorithm for performing synchronization over the special Euclidean group.
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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:
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.
We use David M. Rosen's optimizaiton tools and Yixuan Qiu's Spectra in our CPL-Sync.
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]