g2o
g2o stands for General Graph Optimization. It is an open-source C++ framework designed to solve graph-based nonlinear least-squares problems, with a focus on pose graph optimization in robotics and computer vision. The library is commonly used to formulate problems as a graph: vertices correspond to variables such as poses or landmarks, and edges encode constraints derived from sensor measurements.
Its architecture is modular. Vertex and Edge base classes allow users to define problem-specific variables and
g2o was introduced by Grisetti, Kummerle, Stachniss, and Burgard in 2010 as a general framework to simplify