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Hello,
I think these were my resources:
- http://www.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10titsmag.pdf
- http://ais.informatik.uni-freiburg.de/teaching/ws20/mapping/
- https://github.com/uoip/g2opy#pose-graph-optimization
Its been a quite sometime since I've looked into any SLAM papers. But usually you will need to solve a nonlinear/linear system to correct robot's position. (Find the best possible combination of positions given noisy sensor data and constraints). It might be another project to write an optimizer on its own but there are probably libraries for Rust to do linear/nonlinear programming. (https://github.com/vbarrielle/sprs, https://github.com/alphaville/optimization-engine)
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Great, thanks for the info!
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