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[mrpt-srba]

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).

See:

Collaboration diagram for [mrpt-srba]:

Modules

 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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