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g2o-python-examples

This repository contains examples of g2o-python on GraphSLAM, optimisation and bundle adjustment

Requisites

Install g2o-python as

pip install g2o-python

Concepts

In g2o, poses are represented as vertices in a graph. In the figure, they are $\left\lbrace x_1, x_2, x_3, x_4, x_5 \right\rbrace$. The edges that join these vertices are odometric measurements.

Landmarks (or features, observations) are represented as a different type of vertices and its corresponding measurement is encoded in the edge that joins a pose vertex to the landmark vertex. These are $\left\lbrace z_1, z_2, z_3 \right\rbrace$ in the figure.