g2o ☆

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Description:
General framework for graph optimization

Type: Formula | Latest Version: 20241228@1 | Tracked Since: Nov 2, 2025

Links: Homepage | formulae.brew.sh

Category: Developer tools

Tags: slam robotics computer-vision optimization c++

Install: brew install g2o

About:
g2o (General Graph Optimization) is an open-source C++ framework for optimizing the nonlinear error functions that arise in SLAM (Simultaneous Localization and Mapping) and SfM (Structure from Motion). It provides a highly efficient implementation of the Gauss-Newton and Levenberg-Marquardt algorithms for solving large-scale graph optimization problems. The library enables robotics researchers and developers to efficiently solve for the poses of robots and 3D structures from sensor data.

Key Features:

Efficient sparse matrix solvers for large-scale problems
Extensible architecture for custom vertices and edges
Supports various 2D and 3D optimization problems
Provides a rich set of pre-built optimization types

Use Cases:

Solving SLAM problems in robotics (2D/3D)
Structure from Motion (SfM) in computer vision
Pose graph optimization for autonomous vehicles

Alternatives:

Ceres Solver – A more general-purpose non-linear least squares solver, whereas g2o is specifically optimized for graph-based problems like SLAM.

Version History

Detected	Version	Rev	Change	Commit
Nov 2, 2025 6:32am	20241228	1	VERSION_BUMP	f636d109
Sep 11, 2025 6:23pm	20241228	0	VERSION_BUMP	d2bbf893
Dec 29, 2024 5:29pm	20241228	0	VERSION_BUMP	5bb08f49
Dec 29, 2024 3:40pm	20241228	0	VERSION_BUMP	c485607f