diff --git a/doc/Tutorials/RobustGraphOptimization/loop_3it_gps.db b/doc/Tutorials/RobustGraphOptimization/loop_3it_gps.db
new file mode 100755
index 0000000..b098932
Binary files /dev/null and b/doc/Tutorials/RobustGraphOptimization/loop_3it_gps.db differ
diff --git a/doc/Tutorials/RobustGraphOptimization/loop_3it_gps.jpg b/doc/Tutorials/RobustGraphOptimization/loop_3it_gps.jpg
new file mode 100644
index 0000000..142274e
Binary files /dev/null and b/doc/Tutorials/RobustGraphOptimization/loop_3it_gps.jpg differ
diff --git a/doc/Tutorials/RobustGraphOptimization/multi_session_gps.png b/doc/Tutorials/RobustGraphOptimization/multi_session_gps.png
new file mode 100644
index 0000000..c4d89d3
Binary files /dev/null and b/doc/Tutorials/RobustGraphOptimization/multi_session_gps.png differ
diff --git a/doc/Tutorials/RobustGraphOptimization/multi_session_max_error.png b/doc/Tutorials/RobustGraphOptimization/multi_session_max_error.png
new file mode 100644
index 0000000..2eb3da3
Binary files /dev/null and b/doc/Tutorials/RobustGraphOptimization/multi_session_max_error.png differ
diff --git a/doc/Tutorials/RobustGraphOptimization/multi_session_not_robust.png b/doc/Tutorials/RobustGraphOptimization/multi_session_not_robust.png
new file mode 100644
index 0000000..f107e5f
Binary files /dev/null and b/doc/Tutorials/RobustGraphOptimization/multi_session_not_robust.png differ
diff --git a/doc/Tutorials/RobustGraphOptimization/multi_session_vertigo.png b/doc/Tutorials/RobustGraphOptimization/multi_session_vertigo.png
new file mode 100644
index 0000000..06f3d74
Binary files /dev/null and b/doc/Tutorials/RobustGraphOptimization/multi_session_vertigo.png differ
diff --git a/doc/Tutorials/RobustGraphOptimization/single_session_max_error.png b/doc/Tutorials/RobustGraphOptimization/single_session_max_error.png
new file mode 100644
index 0000000..2401896
Binary files /dev/null and b/doc/Tutorials/RobustGraphOptimization/single_session_max_error.png differ
diff --git a/doc/Tutorials/RobustGraphOptimization/single_session_not_robust.png b/doc/Tutorials/RobustGraphOptimization/single_session_not_robust.png
new file mode 100644
index 0000000..764e740
Binary files /dev/null and b/doc/Tutorials/RobustGraphOptimization/single_session_not_robust.png differ
diff --git a/doc/Tutorials/RobustGraphOptimization/single_session_vertigo.png b/doc/Tutorials/RobustGraphOptimization/single_session_vertigo.png
new file mode 100644
index 0000000..fbfcca5
Binary files /dev/null and b/doc/Tutorials/RobustGraphOptimization/single_session_vertigo.png differ