Pose Graph

A pose graph is a mathematical tool used in robotics and computer vision to represent the locations and orientations of a moving object, like a robot, over time. It consists of nodes, each representing a "pose" (a specific position and direction), and edges that represent the relationships or measurements between these poses, often stemming from sensors. By analyzing the pose graph, one can refine the robot's path, correct its position, and improve navigation accuracy, especially in complex environments. This approach is crucial for tasks like mapping and autonomous navigation.