Computer Vision/Robotics - What's a pose-graph?

[golmschenk]

I've been looking for a definition for a while now. A google search turns up plenty of research papers using them but I haven't found a definition yet. Can anyone explain it to me? Thanks for your time!

 

[golmschenk]

Nevermind. I think I found it. A pose graph is a graph data structure where each node is a frame with a specific origin and each directed edge is the transformation (translation and rotation) from one node (frame) to another. Is this right? Or wrong? Or is there something anyone thinks should be added to this description? Thanks.

 

[golmschenk]

Also, the edge contains the covariance. Anything else? Again, thanks.