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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·11,·20255 November·9,·2024
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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14 ····['sclam_5fpure_5fcalibration_2ecpp_12',·['sclam_pure_calibration.cpp',·['../sclam__pure__calibration_8cpp.html',·1,·'']]],14 ····['sclam_5fpure_5fcalibration_2ecpp_12',·['sclam_pure_calibration.cpp',·['../sclam__pure__calibration_8cpp.html',·1,·'']]],
15 ····['se2_2eh_13',·['se2.h',·['../types_2slam2d_2se2_8h.html',·1,·'(Global·Namespace)'],15 ····['se2_2eh_13',·['se2.h',·['../examples_2tutorial__slam2d_2se2_8h.html',·1,·'(Global·Namespace)'],
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19 ····['se3_5fops_2ehpp_15',·['se3_ops.hpp',·['../se3__ops_8hpp.html',·1,·'']]],19 ····['se3_5fops_2ehpp_15',·['se3_ops.hpp',·['../se3__ops_8hpp.html',·1,·'']]],
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21 ····['sensor_5fline3d_2ecpp_17',·['sensor_line3d.cpp',·['../sensor__line3d_8cpp.html',·1,·'']]],21 ····['sensor_5fline3d_2ecpp_17',·['sensor_line3d.cpp',·['../sensor__line3d_8cpp.html',·1,·'']]],
22 ····['sensor_5fline3d_2eh_18',·['sensor_line3d.h',·['../sensor__line3d_8h.html',·1,·'']]],22 ····['sensor_5fline3d_2eh_18',·['sensor_line3d.h',·['../sensor__line3d_8h.html',·1,·'']]],
23 ····['sensor_5fodometry_2eh_19',·['sensor_odometry.h',·['../sensor__odometry_8h.html',·1,·'']]],23 ····['sensor_5fodometry_2eh_19',·['sensor_odometry.h',·['../sensor__odometry_8h.html',·1,·'']]],
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52 ····['sensor_5fsegment2d_5fpointline_2ecpp_48',·['sensor_segment2d_pointline.cpp',·['../sensor__segment2d__pointline_8cpp.html',·1,·'']]],52 ····['sensor_5fsegment2d_5fpointline_2ecpp_48',·['sensor_segment2d_pointline.cpp',·['../sensor__segment2d__pointline_8cpp.html',·1,·'']]],
53 ····['sensor_5fsegment2d_5fpointline_2eh_49',·['sensor_segment2d_pointline.h',·['../sensor__segment2d__pointline_8h.html',·1,·'']]],53 ····['sensor_5fsegment2d_5fpointline_2eh_49',·['sensor_segment2d_pointline.h',·['../sensor__segment2d__pointline_8h.html',·1,·'']]],
54 ····['sim3_2eh_50',·['sim3.h',·['../sim3_8h.html',·1,·'']]],54 ····['sim3_2eh_50',·['sim3.h',·['../sim3_8h.html',·1,·'']]],
55 ····['simple_5foptimize_2ecpp_51',·['simple_optimize.cpp',·['../simple__optimize_8cpp.html',·1,·'']]],55 ····['simple_5foptimize_2ecpp_51',·['simple_optimize.cpp',·['../simple__optimize_8cpp.html',·1,·'']]],
56 ····['simple_5fstar_5fops_2ecpp_52',·['simple_star_ops.cpp',·['../simple__star__ops_8cpp.html',·1,·'']]],56 ····['simple_5fstar_5fops_2ecpp_52',·['simple_star_ops.cpp',·['../simple__star__ops_8cpp.html',·1,·'']]],
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58 ····['simulator_2ecpp_54',·['simulator.cpp',·['../apps_2g2o__simulator_2simulator_8cpp.html',·1,·'(Global·Namespace)'],58 ····['simulator_2ecpp_54',·['simulator.cpp',·['../examples_2tutorial__slam2d_2simulator_8cpp.html',·1,·'(Global·Namespace)'],
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