arxivcs.RO2026-06-29
TACO: A Test and Check Framework for Robust Pose Graph Optimization
Emilio Olivastri, Alberto Pretto, Tobias Fischer
Pose Graph Optimization (PGO) is one of the most widely adopted approaches for solving Simultaneous Localization and Mapping (SLAM) problems. However, PGO approaches are particularly sensitive to outliers, which can substantially degrade the quality of the estimated trajectories.…