Articles & Tutorials

Sparse Pose Adjustment

The IROS2010 paper Efficient Sparse Pose Adjustment for 2D Mapping” by Kurt Konolige, Giorgio Grisetti, Rainer Kümmerle, Wolfram Burgard, Benson Limketkai, and Regis Vincent was published with a link to a website that contained a number of great datasets and reference results.  The link was to a Willow Garage website ( which no longer exists.

With a little help I was able to track down the data which is now hosted here at

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