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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 | 5 | March·20,·2024 | |
| 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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| 85 | ····]], | 85 | ····]], |
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| 9 | ····['scanner_2el_7',·['scanner.l',·['../scanner_8l.html',·1,·'']]], | 9 | ····['scanner_2el_7',·['scanner.l',·['../scanner_8l.html',·1,·'']]], |
| 10 | ····['sclam_5fhelpers_2ecpp_8',·['sclam_helpers.cpp',·['../sclam__helpers_8cpp.html',·1,·'']]], | 10 | ····['sclam_5fhelpers_2ecpp_8',·['sclam_helpers.cpp',·['../sclam__helpers_8cpp.html',·1,·'']]], |
| 11 | ····['sclam_5fhelpers_2eh_9',·['sclam_helpers.h',·['../sclam__helpers_8h.html',·1,·'']]], | 11 | ····['sclam_5fhelpers_2eh_9',·['sclam_helpers.h',·['../sclam__helpers_8h.html',·1,·'']]], |
| 12 | ····['sclam_5flaser_5fcalib_2ecpp_10',·['sclam_laser_calib.cpp',·['../sclam__laser__calib_8cpp.html',·1,·'']]], | 12 | ····['sclam_5flaser_5fcalib_2ecpp_10',·['sclam_laser_calib.cpp',·['../sclam__laser__calib_8cpp.html',·1,·'']]], |
| 13 | ····['sclam_5fodom_5flaser_2ecpp_11',·['sclam_odom_laser.cpp',·['../sclam__odom__laser_8cpp.html',·1,·'']]], | 13 | ····['sclam_5fodom_5flaser_2ecpp_11',·['sclam_odom_laser.cpp',·['../sclam__odom__laser_8cpp.html',·1,·'']]], |
| 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',·['../ | 15 | ····['se2_2eh_13',·['se2.h',·['../examples_2tutorial__slam2d_2se2_8h.html',·1,·'(Global·Namespace)'], |
| 16 | ········['../ | 16 | ········['../types_2slam2d_2se2_8h.html',·1,·'(Global·Namespace)'] |
| 17 | ····]], | 17 | ····]], |
| 18 | ····['se3_5fops_2eh_14',·['se3_ops.h',·['../se3__ops_8h.html',·1,·'']]], | 18 | ····['se3_5fops_2eh_14',·['se3_ops.h',·['../se3__ops_8h.html',·1,·'']]], |
| 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,·'']]], |
| 20 | ····['se3quat_2eh_16',·['se3quat.h',·['../se3quat_8h.html',·1,·'']]], | 20 | ····['se3quat_2eh_16',·['se3quat.h',·['../se3quat_8h.html',·1,·'']]], |
| 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,·'']]], |