Pose Graph Optimization

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Overview

Pose graph optimization represents robot or camera poses as graph nodes and odometry, loop closures, or landmark relations as edges, then adjusts the poses to reduce disagreement across measurements. It is a core tool in SLAM, mapping, and reconstruction, with nonlinear least squares on SE(2), SE(3), or Sim(3) commonly paired with robust methods such as switchable constraints to handle outliers. Current approaches include distributed and Riemannian solvers for multi-robot settings, learned edge selection and adaptive optimization, and hierarchical or certifiable methods for faster or more reliable convergence. A central tension is balancing accuracy and robustness against computation and communication costs, while pose-only constraints can miss scale, uncertainty, or map structure needed for consistent reconstruction.

Latest papers

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30 papers8 papers in the last four weeks, against 1 the four weeks before. 0.0% of all new papers.

  1. Learning Scene Coordinate Reconstruction from Unposed Images via Pose Graph Optimization

    Oct 26, 2026Tze Ho Elden Tse, Jizong Peng, Angela YaoCamera Pose EstimationStructure from Motion

    dConstruct Robotics · National University of Singapore

  2. HiP3R: Hierarchical Pose Graphs for Long-Horizon 3D Reconstruction

    Oct 22, 2026Zunnan Xu, Shangchen Zhou, Yihang Luo +13D ReconstructionCamera Pose Estimation

    S-Lab, Nanyang Technological University · Imperial College London · ACE Robotics

  3. RootSLAM: Square Root Bundle Adjustment for Visual-Inertial SLAM

    Oct 10, 2026Tomás Santucci, Mateo de Mayo, Daniel Cremers +1Visual-Inertial SLAMBundle Adjustment

    National University of Rosario, Rosario, Argentina · Technical University of Munich and the Munich Center for Machine Learning, Munich, Germany · CIFASIS (CONICET-UNR), Rosario, Argentina

  4. Global Optimality of Pose Graph Optimization

    Oct 10, 2026Shuan Ding, Ruishuang Chen, Mengfan Cao +1Pose Graph OptimizationRobotic Optimization

    Guangdong Provincial Key Laboratory of FullyActuated System Control Theory and Technology, and the School of Automation and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen 518055, China · Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen 518055, China

  5. When pose graphs are not enough: a failure analysis of pose-graph-based camera estimation for Gaussian splatting

    Oct 8, 2026Senthil Palanisamy, Azwad Sabik, Alan Dolhasz +1Camera Pose EstimationPose Graph Optimization

    Matterport

  6. Fast Pose Tracking of Rigid Objects with Compact Pose Graph Optimization

    Oct 8, 2026Xiaojie Zhang, Tom Fischer, Viktor Larsson +1Object Pose EstimationPose Graph Optimization

    University of Technology Nuremberg · Lund University

  7. VGGT-Bridge: Beyond Sequential Pose Graphs via Coarse-Stride Skip Edges

    Oct 5, 2026Sungjae Choi, Hanna Bae, Sunghyun Baek +13D ViTsStreaming 3D Reconstruction

    Korea Advanced Institute of Science and Technology, South Korea

  8. Hierarchy-GBP: Accelerating Factor Graph Inference via Abstraction and Recovery

    Oct 4, 2026Yuzhou Cheng, Tom Yates, Ignacio Alzugaray +3Gaussian Belief PropagationBelief Propagation

    Imperial College London, London, United Kingdom.

  9. Who Went Where When on the Lunar Surface: Forensic Trajectory Analysis to Identify Byzantine Rovers

    Oct 2, 2026Lachlan Holden, Feras Dayoub, Melissa de Zwart +2Trajectory InferenceRobot State Estimation

    AI for Space Group · Andy Thomas Centre for Space Resources, Adelaide University, Australia.

  10. Spectral Consistency-Guided Multiview Point Cloud Registration for Low-Overlap Scenes

    Sep 11, 2026Tianyu Li, Yanghong Lin, Shudong Zhou +4Pose Graph OptimizationPoint Cloud Registration

    School of Resources and Environmental Sciences, Wuhan University, Wuhan, China · Spatial Intelligence and Urban Computing, Institute of Urban Environment, Chinese Academy of Sciences, Xiamen, China · State Key Lab for Ecological Security of Regions and Cities, Institute of Urban Environment, Chinese Academy of Sciences, Xiamen, China

  11. Marker-Constrained Pose-Graph Correction for Cross-Platform Georeferencing in GNSS-Denied Environments

    Aug 17, 2026Marco Giberna, Jose Luis Sanchez Lopez, Holger VoosGNSS-Denied LocalizationRobot Localization

    Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT), University of Luxembourg, 1855 Luxembourg, Luxembourg · Faculty of Science, Technology and Medicine, University of Luxembourg, 4365 Esch-sur-Alzette, Luxembourg

  12. UniSim-SLAM: Feed-Forward SLAM with Unified Sim(3) Optimization

    Aug 3, 2026Inha Lee, Dongjae Jeong, Junhee Lee +1Simultaneous Localization and MappingPose Graph Optimization

    lsan National Institute of Science and Technology, Ulsan, Korea

  13. Improving Map Consistency in Graph-Based LiDAR SLAM Through Information-Aware Odometry and Retroactive Loop Closure

    Jul 15, 2026Saurabh Gupta, Niklas Trekel, Louis Wiesmann +1Pose Graph OptimizationLiDAR Odometry

    University of Bonn, Center for Robotics · Lamarr Institute for Machine Learning and Artificial Intelligence

  14. Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups

    Jul 9, 2026Jaeho Shin, Maani Ghaffari, Yulun TianFactor Graph OptimizationRiemannian Optimization

    University of Michigan

  15. TACO: A Test and Check Framework for Robust Pose Graph Optimization

    Jun 29, 2026Emilio Olivastri, Alberto Pretto, Tobias FischerSimultaneous Localization and MappingPose Graph Optimization

    1Queensland University of Technology, AU · University of Padova, IT

  16. Decentralized Pose Graph Riemannian Optimization for Object-based Multi-Robot SLAM

    Jun 23, 2026Yixian Zhao, Yan Huang, Yang Xu +2Simultaneous Localization and MappingRiemannian Optimization

    College of Control Science and Engineering, Zhejiang University, Hangzhou, 310027, China · Division of Decision and Control Systems, School of EECS, KTH Royal Institute of Technology, Stockholm, SE-100 44, Sweden · Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai, 201210, China

  17. MoonSplat: Monocular Online Gaussian Splatting with Sim(3) Global Optimization

    Jun 16, 2026Guo Pu, Yixuan Han, Haofeng Li +33D Gaussian SplattingLanguage-Embedded 3DGS

    Wangxuan Institute of Computer Technology, Peking University, China · Beijing Hydrogen Intelligent Tech. Co., Ltd., China

  18. FD-SLAM: Fast Dense Radar-Inertial SLAM with Frequency-Domain Loop Closure and Pose Graph Optimization

    Jun 13, 2026Nader J. Abu-Alrub, Nathir A. RawashdehSimultaneous Localization and MappingPose Graph Optimization

  19. BIM-Loc: BIM-Integrated Discrepancy-Aware LiDAR-based Indoor Localization

    Jun 12, 2026Yinqiang Zhang, Liang Lu, Yipeng Pan +5Pose Graph OptimizationLiDAR Localization

    Department of AI & Data Science, University of Hong Kong (HKU), Hong Kong, China. · Humanoids and Human Centered Mechatronics Research Line, Italian Institute of Technology (IIT) Genoa, Italy. · Department of Architecture and Civil Engineering, City University of Hong Kong (CityU), Hong Kong, China.

  20. Meridian: Metric-Semantic Primitive Matching for Cross-View Geo-Localization Beyond Urban Environments

    Jun 4, 2026Mason Peterson, Qingyuan Li, Yixuan Jia +4Cross-View Geo-LocalizationVisual Place Recognition

    Massachusetts Institute of Technology, Cambridge, MA 02139, USA. · GRASP Laboratory, University of Pennsylvania, Philadelphia, PA 19104, USA. · U.S. Army Combat Capabilities Development Command, Army Research Laboratory, Adelphi, MD 20783, USA.

  21. Anchor3R: Streaming 3D Reconstruction with Transient Anchors for Long-Horizon Visual Mapping

    Jun 3, 2026Peilin Tao, Chong Cheng, Yuansen Du +8Relative Pose EstimationStreaming 3D Reconstruction

    1CASIA · 2UCAS · 3Horizon Robotics +1

  22. A Decentralized LiDAR-SLAM System with Certifiably Optimal Pose Graph Optimization

    May 24, 2026Baoshan Song, Feng Huang, Li-Ta HsuSimultaneous Localization and MappingPose Graph Optimization

    Department of Aeronautical and Aviation Engineering

  23. Distributed Pose Graph Optimization via Continuous Riemannian Dynamics

    May 11, 2026Jaeho Shin, Maani Ghaffari, Yulun TianRiemannian OptimizationMulti-Robot Systems

    University of Michigan Ann Arbor, MI 48109, USA

  24. Dr-PoGO: Direct Radar Pose-Graph Optimization

    May 6, 2026Cedric Le Gentil, Weican Li, Leonardo Brizi +1Simultaneous Localization and MappingRelative Pose Estimation

    Robotics Institute University of Toronto. · Department of Computer, Control, and Management Engineering “Antonio Ruberti”, Sapienza University of Rome.

  25. Dual Pose-Graph Semantic Localization for Vision-Based Autonomous Drone Racing

    Apr 16, 2026David Perez-Saura, Miguel Fernandez-Cortizas, Alvaro J. Gaona +1Pose Graph OptimizationAutonomous Racing

    Computer Vision & Aerial Robotics Group, Universidad Polit´ecnica de Madrid, Madrid, Spain · Automation and Robotics Group (ARG-SnT), University of Luxembourg – SnT, Luxembourg

  26. MipSLAM: Alias-Free Gaussian Splatting SLAM

    Mar 7, 2026Yingzhao Li, Yan Li, Shixiong Tian +33DGS SLAMSimultaneous Localization and Mapping

    State Key Laboratory of Robotics and Systems (HIT), Harbin Institute of Technology. · Yangtze River Delta HlT Robot Technology Research Institute. · Department of Computer Science, National University of Singapore.

  27. Overlapping Domain Decomposition for Distributed Pose Graph Optimization

    Mar 3, 2026Aneesa Sonawalla, Yulun Tian, Jonathan P. HowPose Graph OptimizationRobotic Optimization

    MIT Department of Aeronautics and Astronautics. · Draper Scholar, The Charles Stark Draper Laboratory, Cambridge, MA. · University of Michigan Robotics Department.

  28. Radar-based Pose Optimization for HD Map Generation from Noisy Multi-Drive Vehicle Fleet Data

    Mar 3, 2026Alexander Blumberg, Jonas Merkert, Christoph StillerHD Map ConstructionSimultaneous Localization and Mapping

    Institute of Measurement and Control Systems, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany

  29. riMESA: Consensus ADMM for Real-World Collaborative SLAM

    Mar 1, 2026Daniel McGann, Michael KaessSimultaneous Localization and MappingPose Graph Optimization

    The authors are with the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA.

  30. Global-Aware Edge Prioritization for Pose Graph Initialization

    Feb 25, 2026Tong Wei, Giorgos Tolias, Jiri Matas +1Structure from MotionGraph Sparsification

    Visual Recognition Group, FEE, Czech Technical University in Prague · Computer Vision and Geometry Group, ETH Zurich · HUN-REN SZTAKI