2020-11-06T09:53:54 n6362

VERTIGO (Versatile Extensions for Robust Inference using Graph Optimization) source code

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Vertigo is a C++ extension for g2o and gtam.

It provides an implementation of switchable constraints and enables g2o and gtsam to solve pose graph SLAM problems in 2D and 3D, despite a large number of false positive loop closure constraints. Additionally, a re-implementation of the max-mixture model described in [4] for g2o is also contained.

Vertigo also contains a number of standard pose graph SLAM datasets and a script to spoil them with false positive loop closure constraints. These datasets can serve as a set of benchmark datasets for future developments in robust pose graph SLAM.

Access rights

This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. The authors allow the users of OpenSLAM.org to use and modify the source code for their own research. Any commercial application, redistribution, etc has to be arranged between users and authors individually and is not covered by OpenSLAM.org. Vertigo is licenced under GPL Version 3.

Research areas

Adaptive Agents and Intelligent Robotics
Artifical Intelligence and Image Processing
Information and Computing Science

Cite this collection

Suenderhauf, Niko; Protzel, Peter (2019): VERTIGO (Versatile Extensions for Robust Inference using Graph Optimization) source code . Queensland University of Technology. (Software) https://doi.org/10.25912/5dcb33f1400ec

Related information

Niko Suenderhauf, and Peter Protzel: Switchable Constraints for Robust Pose Graph SLAM, In Proc. of IEEE International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal., 2012 https://iros2012.isr.uc.pt/site/index.html
Niko Suenderhauf: Robust Optimization for Simultaneous Localization and Mapping, PhD Thesis, Chemnitz University of Technology, 2012 http://goo.gl/jGCtUp


Creative Commons Attribution-NonCommercial 4.0 (CC-BY-NC)


Copyright and V.i.S.d.P.: Niko Suenderhauf https://openslam-org.github.io/ https://openslam.org/

Data file types


Dates of development

From 2012-01-01 to 2012-12-31


Has association with
Niko Suenderhauf  (Researcher)
QUT CyPhy Lab   (Group)
Is managed by
Niko Suenderhauf  (Researcher)


Phone: +61 7 3138 9971


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Published - Open Access