HOG-Man - Hierarchical Optimization for Pose Graphs on Manifolds

HOG-Man is our new back-end for graph-based SLAM which is also designed for online applications.

TORO - Tree-based netwORk Optimizer

TORO is our efficient solution to compute low error configurations of constraint networks used in SLAM.

CARMEN

GMapping

Get our the latest version of GMapping, our SLAM approach using a Rao-Blackwellized particle filter (hosted at OpenSLAM.org).

ECMR'07 Tutorial on SLAM with Rao-Blackwellized PFs

Course Material for the ECMR 2007 Tutorial on SLAM with RBPFs.

IROS'05 Advanced SLAM Tutorial

Course Material for the IROS 2005 Advanced SLAM Tutorial.

C Implementation of the Hungarian Method

Download libhungarian-v0.1.2.tgz (09.09.2004)

C-implementation of the Hungarian Method: finding the optimal assignment (assigning a set of jobs to a set of machines) in O(n^3), where n=max{#jobs, #machines}. The implementation is a sligntly enhanced version of the implementation provided by the Stanford GraphBase. See also: Stanford GraphBase, Hungarian Method by Brian Gerkey.