A ROS Package for Pose Graph SLAM that uses karto_slam for the front end and g2o/ceres/gtsam for backend.
karto_graph_slam requires the following libraries:
- G2O
- PCL
- Ceres
- Eigen3
- GTSAM
roslaunch karto_graph_slam karto_slam_outdoor_ceres.launch
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karto slam后端优化的改写
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