A Unified Approach to Synchronization Problems over Subgroups of the Orthogonal Group

Given a group $\mathcal{G}$, the problem of synchronization over the group $\mathcal{G}$ is a constrained estimation problem where a collection of group elements $G^*_1, \dots, G^*_n \in \mathcal{G}$ are estimated based on noisy observations of pairwise ratios $G^*_i {G^*_j}^{-1}$ for an incomplete set of index pairs $(i,j)$. This problem has gained much attention recently and finds lots of applications due to its appearance in a wide range of scientific and engineering areas. In this paper, we consider the class of synchronization problems over a closed subgroup of the orthogonal group, which covers many instances of group synchronization problems that arise in practice. Our contributions are threefold. First, we propose a unified approach to solve this class of group synchronization problems, which consists of a suitable initialization and an iterative refinement procedure via the generalized power method. Second, we derive a master theorem on the performance guarantee of the proposed approach. Under certain conditions on the subgroup, the measurement model, the noise model and the initialization, the estimation error of the iterates of our approach decreases geometrically. As our third contribution, we study concrete examples of the subgroup (including the orthogonal group, the special orthogonal group, the permutation group and the cyclic group), the measurement model, the noise model and the initialization. The validity of the related conditions in the master theorem are proved for these specific examples. Numerical experiments are also presented. Experiment results show that our approach outperforms existing approaches in terms of computational speed, scalability and estimation error.