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head/math/g2o/pkg-descr
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g2o is an open-source C++ framework for optimizing graph-based nonlinear error | |||||
functions. g2o has been designed to be easily extensible to a wide range of | |||||
problems and a new problem typically can be specified in a few lines of code. | |||||
The current implementation provides solutions to several variants of SLAM and | |||||
BA. | |||||
A wide range of problems in robotics as well as in computer-vision involve the | |||||
minimization of a non-linear error function that can be represented as a graph. | |||||
Typical instances are simultaneous localization and mapping (SLAM) or bundle | |||||
adjustment (BA). The overall goal in these problems is to find the configuration | |||||
of parameters or state variables that maximally explain a set of measurements | |||||
affected by Gaussian noise. g2o is an open-source C++ framework for such | |||||
nonlinear least squares problems. g2o has been designed to be easily extensible | |||||
to a wide range of problems and a new problem typically can be specified in a | |||||
few lines of code. The current implementation provides solutions to several | |||||
variants of SLAM and BA. | |||||
WWW: http://openslam.org/g2o.html |