Collected sources and patterns will appear here. Add from search, explore, or the patterns library.
(Graph<SubmapPose, NodePose>, List<Constraint>) -> Graph<SubmapPose, NodePose>
Minimize loop-closure and odometry errors globally by executing non-linear least squares optimization over a graph of submap and node poses.
Problem it solves
Accumulated odometry drift causes map deformation over time.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.