A pose-graph optimization algorithm based on multi-resolution transform and parallel block-Gauss-Seidel iteration. Check out the RA-L paper for details.
Use CMake.
- Eigen3
- Intel MKL
- Suitesparse
mrpgo_app is a command-line application. Run it without argument to display help. It accepts input files in g2o format. It recognizes VERTEX_SE2/EDGE_SE2 for 2D posegraphs, and VERTEX_SE3/EDGE_SE3:QUAT for 3D posegraphs. Output file can be specified with -o option.
Visualization capability is not implemented. Load the output posegraph file on g2o_viewer (for example) to see if it's properly optimized.