Sparse pose adjustment

This video shows an illustration of pose-graph SLAM optimization, as described in Chap. 46.3.3, Springer Handbook of Robotics, 2nd edn (2016), using sparse pose adjustment. Reference: K. Konolige, G. Grisetti, R. Kümmerle, W. Burgard, B. Limketkai, R. Vincent: Sparse pose adjustment for 2-D mapping, IEEE/RSJ Int. Conf. Intel. Robot. Syst. (IROS), Taipei (2010).