A pose graph is defined as a graph data structure where each node represents a frame with a specific origin, and each directed edge signifies the transformation (translation and rotation) from one node to another. Additionally, the edges contain covariance information, which is crucial for understanding the uncertainty in the transformations. This definition aligns with common usage in computer vision and robotics, particularly in mapping and localization tasks.
PREREQUISITESThis discussion is beneficial for robotics engineers, computer vision researchers, and students studying graph-based mapping and localization techniques.