VERTIGO (Versatile Extensions for Robust Inference using Graph Optimization) source code

ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rfr_id=info%3Asid%2FANDS&rft_id=info:doi10.25912/5dcb33f1400ec&rft.title=VERTIGO (Versatile Extensions for Robust Inference using Graph Optimization) source code &rft.identifier=10.25912/5dcb33f1400ec&rft.publisher=Queensland University of Technology&rft.description=Vertigo is a C++ extension for g2o and gtam. It provides an implementation of switchable constraints and enables g2o and gtsam to solve pose graph SLAM problems in 2D and 3D, despite a large number of false positive loop closure constraints. Additionally, a re-implementation of the max-mixture model described in [4] for g2o is also contained.Vertigo also contains a number of standard pose graph SLAM datasets and a script to spoil them with false positive loop closure constraints. These datasets can serve as a set of benchmark datasets for future developments in robust pose graph SLAM. &rft.creator=Suenderhauf, Niko &rft.creator=Protzel, Peter &rft.date=2019&rft.edition=1&rft_rights=Copyright and V.i.S.d.P.: Niko Suenderhauf https://openslam-org.github.io/ https://openslam.org/&rft_rights=Creative Commons Attribution-NonCommercial 3.0 http://creativecommons.org/licenses/by-nc/3.0/au/&rft_subject=08&rft.type=dataset&rft.language=English Access the data