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G i
pi G = (Ri G , T i G ) pGi pi G
R G i = R i T G
G , Ti = − R i T i
G TG, R i G = R GT i
i , TG = − R GT G
i Ti .
pi j
(Ri j, T i j ) ∈ SE(3)
G
i ∈ V
T i G (t) ∈ R3 T i G (0) = 0 t ∈ N
T i G(t + 1) =
j∈Ni∪{i}
Wi,j(R i jT j
G (t) + T i j ),
Wi,j G
G i ∈ V
t → ∞ T i G (t) i ∈ V
i T i G
lim
t→∞ T i G(t) = T i G.
Ti(t) = R
i T i G(t) + T
i , T i G(t) = (R
i ) T Ti(t) − (R
i ) T T
i ,
T i G (t) (R i , T
i )
Ti(t + 1) =
Wi,jR
i R i jR j Tj(t) +
Wi,j(R
i R i jT j + R
i T i j + T
i )
j∈Ni∪{i}
=
j∈Ni∪{i}
j∈Ni∪{i}
Wi,jTj(t),
j∈Ni∪{i} Wi,j = 1 i ∈ V R i Ri jRj = R = I R i Ri jT j + R i T i j + T
i =
T
= 0 i, j ∈ V
lim
t→∞ Ti(t) = 1
n
n
j=1
Tj(0) = 1
n
n
R
j=1
jT j
G
(0) + Tj = 1
n
n
j=1
T
j = T
G,