Micro Graph Optimizer

Micro graph optimizer is a minimal least squares solver for problems represented as factor graphs.

The solver is contained in micro_graph_optimizer.h and micro_graph_optimizer.cpp and depends only on Eigen. It has no special build requirements. That said, a CMake build file is provided for convenience and to quickly build the examples.

Two examples are provided:

  1. hello_slam: constructs a simple linear pose graph and optimizes it.
  2. slam2d: demonstrates optimzing a non-linear 2D SLAM problem read from a g2o file.

GitHub

View Github