Non-linear Optimizer Supplementary Material

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Ceres Library
Source: https://github.com/ceres-solver/ceres-solver
Documents: http://ceres-solver.org/
Intro by Dr. Sameer Agarwal: https://www.youtube.com/watch?v=u_YC1haw48k
Tutorial: http://ceres-solver.org/tutorial.html

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Related work:
https://github.com/ethz-asl/okvis (OKVIS)(VI-SLAM)
https://sourceforge.net/projects/slam-plus-plus/ (SLAM++)(V-SLAM)
https://github.com/HKUST-Aerial-Robotics/VINS-Mono (VINS)(VI-SLAM)
https://github.com/cartographer-project/cartographer_ros (cartographer)(lidar-SLAM)

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g2o Library
Kümmerle, Rainer, et al. "g 2 o: A general framework for graph optimization." 2011 IEEE International Conference on Robotics and Automation. IEEE, 2011.
Source: https://github.com/RainerKuemmerle/g2o
Document1: https://github.com/RainerKuemmerle/g2o/tree/master/doc/doxygen
Document2: https://github.com/RainerKuemmerle/g2o/blob/master/doc/g2o.pdf

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GTSAM Library
Dellaert, Frank. Factor graphs and GTSAM: A hands-on introduction. Georgia Institute of Technology, 2012.
Source: https://github.com/borglab/gtsam
Tutorial: https://gtsam.org/tutorials/intro.html
Document: https://gtsam.org/

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iSAM Library
Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J., and Dellaert, F. (2012). iSAM2:Incremental smoothing and mapping using the Bayes tree.Intl. J. of Robotics Research, 31:217–236.
Kaess, M., Ranganathan, A., and Dellaert, F. (2008). iSAM: Incremental smoothing and mapping.IEEE Trans. Robotics, 24(6):1365–1378.
Document: http://people.csail.mit.edu/kaess/isam/
(iSAM2 is available as part of the gtsam)

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SLAM++ Library
Ila, Viorela, et al. "SLAM++-A highly efficient and temporally scalable incremental SLAM framework." The International Journal of Robotics Research 36.2 (2017): 210-230.
Polok, Lukas, et al. "Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics." Robotics: Science and Systems. 2013.
Source: https://sourceforge.net/projects/slam-plus-plus/
Document: http://slam-plus-plus.sourceforge.net/documentation20/phunzip.php/documentation_23.zip/index.html

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example of
Matrix Decomposition: Eigenvalue decomposition vs SVD
ICP: SVD vs Least Squares
Non-Linear Least Squares
https://github.com/shannon112/notebooks