rvp-group / srrg2_solver

ILS-based SLAM-focused solver

SRRG2-SOLVER

Basic solver specifically designed for SLAM pipelines. Highly efficient, no fancy stuff, but man if it runs! :D

This repository contains several Catkin packages:

1. srrg2_solver: the barebone srrr2-solver package. Provides batch optimization with BOSS graphs, conversion of graphs from/to g2o format to/from BOSS format, and all other solver modules (most used variables and factors, linear solvers, iteration algorithms, robustifiers, termination criteria ... ). Minimal build dependencies are required.

2. srrg2_solver_extras: provides additional variables and factors (e.g. the AD version of the factors in tha package srrg2_solver). Minimal build dependencies are required.

3. srrg2_solver_experiments: provides comparative examples with pcl - based point registration.

4. srrg2_solver_gui: super experimental package that includes a graph viewer (works only with standard pose-graphs now). Requires OpenGL, QT, QGLViewer.

To know more about those packages, refer to the readme file in the respective packages.

Publications

To have a more detailed overview on this solver, you can read our brand new article. If you use our srrg2_solver, please cite us in your work.

@article{grisetti2020solver,
  author={Grisetti, Giorgio and Guadagnino, Tiziano and Aloise, Irvin and Colosi, Mirco and Della Corte, Bartolomeo and Schlegel, Dominik},
  title={Least Squares Optimization: from Theory to Practice},
  journal={Robotics},
  year={2020},
  month={July},
  volume={9},
  number={3},
  pages={51},
  doi={10.3390/robotics9030051}
}

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Contributors

• Giorgio Grisetti
• Tiziano Guadagnino
• Irvin Aloise
• Mirco Colosi
• Bartolomeo Della Corte
• Dominik Schlegel

License

BSD 3.0