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1 g2o:·A·general·Framework·for·(Hyper)·Graph·Optimization1 g2o:·A·general·Framework·for·(Hyper)·Graph·Optimization
2 Giorgio·Grisetti,·Rainer·Kümmerle,·Hauke·Strasdat,·Kurt·Konolige2 Giorgio·Grisetti,·Rainer·Kümmerle,·Hauke·Strasdat,·Kurt·Konolige
3 email:·{grisetti,kuemmerl}@informatik.uni-freiburg.de3 email:·{grisetti,kuemmerl}@informatik.uni-freiburg.de
4 strasdat@gmail.com·konolige@willowgarage.com4 strasdat@gmail.com·konolige@willowgarage.com
5 December·22,·20245 January·26,·2026
6 In·this·document·we·describe·a·C++·framework·for·performing·the·optimization·of·nonlinear·least6 In·this·document·we·describe·a·C++·framework·for·performing·the·optimization·of·nonlinear·least
7 squares·problems·that·can·be·embedded·as·a·graph·or·in·a·hyper-graph.·A·hyper-graph·is·an·extension7 squares·problems·that·can·be·embedded·as·a·graph·or·in·a·hyper-graph.·A·hyper-graph·is·an·extension
8 of·a·graph·where·an·edge·can·connect·multiple·nodes·and·not·only·two.·Several·problems·in·robotics·and8 of·a·graph·where·an·edge·can·connect·multiple·nodes·and·not·only·two.·Several·problems·in·robotics·and
9 in·computer·vision·require·to·find·the·optimum·of·an·error·function·with·respect·of·a·set·of·parameters.9 in·computer·vision·require·to·find·the·optimum·of·an·error·function·with·respect·of·a·set·of·parameters.
10 Examples·include,·popular·applications·like·SLAM·and·Bundle·adjustment.10 Examples·include,·popular·applications·like·SLAM·and·Bundle·adjustment.
11 In·the·literature,·many·approaches·have·been·proposed·to·address·this·class·of·problems.·The·naive11 In·the·literature,·many·approaches·have·been·proposed·to·address·this·class·of·problems.·The·naive
12 implementation·of·standard·methods,·like·Levenberg-Marquardt·or·Gauss-Newton·can·lead·to·acceptable12 implementation·of·standard·methods,·like·Levenberg-Marquardt·or·Gauss-Newton·can·lead·to·acceptable
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