miniSAM: A Flexible Factor Graph Non-linear Least Squares Optimization Framework

3 Sep 2019Jing DongZhaoyang Lv

Many problems in computer vision and robotics can be phrased as non-linear least squares optimization problems represented by factor graphs, for example, simultaneous localization and mapping (SLAM), structure from motion (SfM), motion planning, and control. We have developed an open-source C++/Python framework miniSAM, for solving such factor graph based least squares problems... (read more)

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