Chapter 46 — Simultaneous Localization and Mapping

Hierarchical optimization for pose graphs on manifolds

This video provides an illustration of graph-based SLAM, as described in Chap. 46.3.3, Springer Handbook of Robotics, 2nd edn (2016), using the HOGMAN algorithm. Reference: G. Grisetti, R. Kuemmerle, C. Stachniss, U. Frese, C. Hertzberg: Hierarchical optimization on manifolds for online 2-D and 3-D mapping, IEEE Int. Conf. Robot. Autom. (ICRA), Anchorage (2010), pp. 273-278; doi: 10.1109/ROBOT.2010.5509407.
Giorgio Grisetti
Cyrill Stachniss
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