Chordal Relaxation for Pose-graph optimization

Iteration-wise result visual comparison code: tldr: A from-scratch implementation of chordal relaxation for rotation initialization of pose-graph SLAM. github.com/gisbi-kim/nano-pgo https://github.com/gisbi-kim/nano-pgo... references 2019 RA-L, Chordal Based Error Function for 3-D Pose-Graph Optimization, https://istinj.github.io/media/2019_p... 2015 ICRA, Initialization Techniques for 3D SLAM: a Survey on Rotation Estimation and its Use in Pose Graph Optimization, https://dellaert.github.io/files/Carl...