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Detailed Description

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Library mrpt-srba

An implementation of Sparser Relative Bundle Adjustment (RBA), a generic framework for SLAM with a different number of sensors or pose-to-pose constraints.

Refer to the SRBA Guide (PDF).


Collaboration diagram for [mrpt-srba]:


 KF-to-KF relative pose parameterizations
 Landmark parameterizations
 Observation types
 Sensor models: one for each combination of {landmark_parameterization,observation_type}
 Struct traits used for setting different SRBA options at compile time

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