| A | B | C | D | E | F | G | H | I | J | K | L | ||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 | Name | GTSAM | MTK (a.k.a. SLoM) | SSA | g2o | hh | mrpt-graphslam | HOG-Man | iSAM | TORO | graph_mapping | Pose Graph Optimization | |
2 | Full Name | Geogia Tech Smoothing and Mapping | Manifold Toolkit | Sparse Surface Adjustment 2D | A General Framework for Graph Optimization | Hybrid Hessians (Flexible-Cost SLAM) | None | Hierarchical Optimization for Pose Graphs on Manifolds | Incremental Smoothing and Mapping | Tree-based netwORk Optimizer | None | None | |
3 | Homepage | http://collab.cc.gatech.edu/borg/gtsam | openslam.org/MTK | openslam.org/ssa2d | openslam.org/g2o | cs.nyu.edu/~mkg/#hybrid_hessians | mrpt.org/Graph-SLAM_maps | openslam.org/hog-man | openslam.org/iSAM | openslam.org/toro | ros.org/wiki/graph_mapping | rvsn.csail.mit.edu/eolson/graphincr/ | |
4 | Author | Gatech | Univ. of Bremen | Univ. of Freiburg | Univ. of Freiburg | NYU | Univ. of Malaga | Univ. of Freiburg | MIT / Gatech | Univ. of Freiburg | Willow Garage | MIT | |
5 | Publications | Techreport 2012 | IROS 2011 | ICRA 2011 | ICRA 2011 | IROS 2010 | IROS 2010 | ICRA 2010 | TRO 2008 RAS 2009 | RSS 2007 TITS 2009 | ? | ICRA 2006 RSS 2007 | |
6 | License | BSD | BSD | LGPL v3 | LGPL v3 | CC | GPL | LGPL v3 | LGPL v2.1 | CC | BSD | Not available | |
7 | Language | C++ (MATLAB) | C++ (MATLAB) | C++ | C++ | C++ | C++ | C++ | C++ | C++ | Java | ||
8 | Required Dependency | Boost | Boost, Eigen, CXSparse | libkdtree++, g2o | Eigen | OpenSceneGraph, GSL, Protobuf, SuiteSparse | MRPT (ROS) | CSparse | SuiteSparse (CHOLMOD) | Standalone | ROS Diamondback | None | |
9 | Optional Dependency | None | None | SuiteSparse, Qt4, libQGLViewer | SuiteSparse, Qt4, libQGLViewer | None | None | None | SDL | None | None | None | |
10 | Notes | - A winner of RSS 2011 Automated SLAM Evaluation | - Building laser-based maps - Using g2o as optimization back-end | - The best in RSS 2011 Automated SLAM Evaluation (reference) | - A winner of RSS 2011 Automated SLAM Evaluation | - Extension of Olson's algorithm | - Incremental version was also proposed |