16 min
Beginner
Video
Theory
Link to External Site
This video provides some intuition around Pose Graph Optimization—a popular framework for solving the simultaneous localization and mapping (SLAM) problem in autonomous navigation.
We’ll cover why uncertainty in a vehicle’s sensors and state estimation makes building a map of the environment difficult and how pose graph optimization can deal with it. We’ll also briefly cover occupancy grid maps as one way to represent the environment model.