G2O : Graph Optimization(As a Non Linear Least Square Problem Solver)

G2O Function Explanation

https://blog.csdn.net/ziliwangmoe/article/details/81460392

chi2是最小二乘问题中该边的代价，omega是该边的信息矩阵

Easy to use G2o Tutorial

https://fzheng.me/2016/03/15/g2o-demo/

Deep Dive in G2O Programming

G2O Simple example

REFERENCE

G2O 논문

각종 SLAM Solver

G2O Book

Easy Explain G2O with example