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.
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
Licence
Creative Commons Attribution-NonCommercial 4.0 (CC-BY-NC)
http://creativecommons.org/licenses/by-nc/4.0/
Copyright
Copyright and V.i.S.d.P.: Niko Suenderhauf https://openslam-org.github.io/
https://openslam.org/
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Data file types
Code
Dates of development
From 2012-01-01 to 2012-12-31
Contacts
Email: niko.suenderhauf@qut.edu.au
Phone: +61 7 3138 9971
Other
Date record created:
2014-05-23T16:08:42
Date record modified:
2020-11-06T09:53:54
Record status:
Published - Open Access