Graph-based SLAM using TORO

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 TORO algorithm. Reference: G. Grisetti, C. Stachniss, S. Grzonka, W. Burgard. A tree parameterization for efficiently computing maximum likelihood maps using gradient descent, Proc. Robot. Sci. Syst. (RSS), Atlanta (2007)