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1 Package:·libg2o-doc1 Package:·libg2o-doc
2 Source:·g2o2 Source:·g2o
3 Version:·0~20230806-4.13 Version:·0~20230806-4.1
4 Architecture:·all4 Architecture:·all
5 Maintainer:·Debian·Science·Maintainers·<debian-science-maintainers@lists.alioth.debian.org>5 Maintainer:·Debian·Science·Maintainers·<debian-science-maintainers@lists.alioth.debian.org>
6 Installed-Size:·3135456 Installed-Size:·313544
7 Section:·doc7 Section:·doc
8 Priority:·optional8 Priority:·optional
9 Homepage:·http://www.g2o.org9 Homepage:·http://www.g2o.org
10 Description:·C++·framework·for·optimizing·graph-based·nonlinear·error·functions10 Description:·C++·framework·for·optimizing·graph-based·nonlinear·error·functions
11 ·A·wide·range·of·problems·in·robotics·as·well·as·in·computer-vision·involve·the11 ·A·wide·range·of·problems·in·robotics·as·well·as·in·computer-vision·involve·the
12 ·minimization·of·a·non-linear·error·function·that·can·be·represented·as·a·graph.12 ·minimization·of·a·non-linear·error·function·that·can·be·represented·as·a·graph.
13 ·Typical·instances·are·simultaneous·localization·and·mapping·(SLAM)·or·bundle13 ·Typical·instances·are·simultaneous·localization·and·mapping·(SLAM)·or·bundle
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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·3,·20245 January·6,·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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