A Compact and Portable Implementation of Graph-based SLAM

Abstract

This paper presents our compact and portable implementation of graph-based SLAM. Nowadays g²o, a popular graph-based SLAM implementation with state-of-the-art performance, is publicly available. However, g²o has a problem about portability because it depends on a number of external libraries. On contrary, our implementation depends solely on Eigen algebra library. By using Eigen, we were able to implement the SLAM algorithm as a cross-platform, header-only library with small amount of code. We evaluated the performance of our implementation using two public datasets. Our implementation was only two times slower than g²o and faster than iSAM, and we consider it reasonable for such a compact implementation.