Partial Hierarchical Pose Graph Optimization for SLAM

In this paper we consider a hierarchical pose graph optimization (HPGO) for Simultaneous Localization and Mapping (SLAM). We propose a fast incremental procedure for building hierarchy levels in pose graphs. We study the properties of this procedure and show that our solution delivers high execution speed, high reduction rate and good flexibility. We propose a way to do partial hierarchical optimization and compare it to other optimization modes. We show that given a comparatively large amount of poses, partial HPGO gives a 10x speed up comparing to the original optimization, not sacrificing the quality.