This project is based on eigen, ceres and sophus.

Red line --- Groudtruth pose of A.

Yellow line --- Pose with noise of A.

Purple line --- Pose after graph optimization of A.

Blue line --- Groudtruth pose of B.

Cyan line --- Pose with noise of B.

White line --- Pose after graph optimization of B.

You can run scripts/trajectory_visualization.py and rviz to visualize the poses.

visualization results

evo evaluation results

pose with noise

• APE

  
  

• RPE

  

pose after optimization

• APE

  
  

• RPE