CSIRO's Wildcat SLAM (Pose-Graph Optimisation)
This video demonstrates Wildcat's pose graph creation and optimisation in action. Each coloured pointcloud segment represents a Wildcat submap. Overlapping submaps are automatically merged to reduce the size of the pose graph and maintain efficient pose-graph optimisation. Accumulated errors are corrected upon loop closure.
For more information: https://arxiv.org/pdf/2205.12595
CSIRO Robotics: https://research.csiro.au/robotics/