Hyperion: A Novel, Modular, Distributed, High-Performance Optimization Framework Targeting both Discrete and Continuous-Time SLAM Applications

Hyperion is a novel optimization framework developed by researchers from ETH Zürich, Imperial College London, and the University of Cyprus. It utilizes Continuous-Time SLAM (CTSLAM) and Gaussian Belief Propagation (GBP) to handle asynchronous sensor data more efficiently. This decentralized and modular framework offers significant speed and scalability improvements over traditional SLAM methods, achieving speedups ranging from 2.43x to 110.31x. Hyperion's decentralized approach aids in effective resource allocation and faster convergence to accurate solutions in real-world robotics applications.