VERTIGO (Versatile Extensions for Robust Inference using Graph Optimization) source code

Vertigo is a C++ extension for g2o and gtam. It provides an implementation of
switchable constraints and enables g2o and gtsam to solve pose graph SLAM problems
in 2D and 3D, despite a large number of false positive loop closure constraints. Additionally, a re-implementation of the max-mixture model described in [4] for
g2o is also contained.Vertigo also contains a number of standard pose graph SLAM datasets
and a script to spoil them with false positive loop closure constraints. These datasets can serve
as a set of benchmark datasets for future developments in robust pose graph SLAM.