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Updated Robust Graph Optimization (markdown)

matlabbe
2015-09-04 09:10:31 -04:00
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Robust-Graph-Optimization.md
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@@ -6,6 +6,9 @@ Even if RTAB-Map has a [good](https://introlab.3it.usherbrooke.ca/mediawiki-intr
<a href="http://www.youtube.com/watch?v=A8v70DZxLF8" target="_blank"><img src="https://raw.githubusercontent.com/wiki/introlab/rtabmap/doc/video_screenshots/robust_graph_optimization.jpg"
alt="video" title="video"/></a>
[1] Latif Y, Cadena C and Neira J (2013) Robust loop closing over time for pose graph slam. Int. J. of Robotics Research 32(14): 1611—1626.
[2] Sunderhauf N and Protzel P (2012) Towards a robust back-end for pose graph SLAM. In: Proc. IEEE Int. Conf. on Robotics and Automation. pp. 1254–1261.
## Configuration
In the Preferences dialog under RGBD-SLAM panel and "Graph optimization" group, choose either g2o or GTSAM for the optimization algorithm, then click on "Robust graph optimization with Vertigo..." (default already checked):
<screenshot>