"Hyperion – A fast, versatile symbolic Gaussian Belief Propagation framework for Continuous-Time SLAM"

David Hug*, Ignacio Alzugaray, Margarita Chli ;

"CTSLAM has become a promising approach for fusing asynchronous and multi-modal sensor suites. Unlike discrete-time SLAM, which estimates poses discretely, CTSLAM uses continuous-time motion parametrizations, facilitating the integration of a variety of sensors such as rolling-shutter cameras, event cameras and IMU. However, CTSLAM approaches remain computationally demanding and are conventionally posed as centralized NLLS optimizations. Targeting these limitations, we not only present the fastest SymForce-based [?] B- and Z-Spline implementations achieving speedups between 2.43x and 110.31x over Sommer [?] but also implement a novel continuous-time GBP framework, coined , which targets decentralized probabilistic inference across agents. We demonstrate the efficacy of our method in motion tracking and localization settings, complemented by empirical ablation studies. Code: https://github.com/VIS4ROB-lab/hyperion"