用于理解基于图优化的机器人建图程序，附上了相应的课件文档帮助理解-This source code is part of the graph optimization package deveoped for the lectures of robotics2 at the University of Freiburg

slam Graph 入门书高清，matlab算法入门-slam Graph primer HD, matlab algorithm entry

基于slam的matlab工具箱，包含EKF-SLAM and graph-SLAM两部分，可用于熟悉SLAM的仿真代码。(slam Toolbox, This toolbox considers these objects as the only existing data for SLAM. They are dened as structures holding a variety of felds.)