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1	g2o:·A·general·Framework·for·(Hyper)·Graph·Optimization	1	g2o:·A·general·Framework·for·(Hyper)·Graph·Optimization
2	Giorgio·Grisetti,·Rainer·Kümmerle,·Hauke·Strasdat,·Kurt·Konolige	2	Giorgio·Grisetti,·Rainer·Kümmerle,·Hauke·Strasdat,·Kurt·Konolige
3	email:·{grisetti,kuemmerl}@informatik.uni-freiburg.de	3	email:·{grisetti,kuemmerl}@informatik.uni-freiburg.de
4	strasdat@gmail.com·konolige@willowgarage.com	4	strasdat@gmail.com·konolige@willowgarage.com
5	~~Nov~~ember·6,·2024	5	December·10,·2025
6	In·this·document·we·describe·a·C++·framework·for·performing·the·optimization·of·nonlinear·least	6	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·extension	7	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·and	8	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·naive	11	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·acceptable	12	implementation·of·standard·methods,·like·Levenberg-Marquardt·or·Gauss-Newton·can·lead·to·acceptable


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