g2o: A General Framework for Graph Optimization NONLINEAR GRAPH OPTIMIZATION USING LEAST-SQUARES 机器人和计算机视觉中的许多问题都可以用下列方程的最小化来求解 F ( x ) = ∑ ⟨ i , j ⟩ ∈ C e ( x i , x j , z i j ) ⊤ Ω i j e ( x i ,