# Tag Info

Yes that is correct. Easiest way is probably to work with the homogeneous 4x4 Tranform Matrix($T$) composed of $\begin{bmatrix}R & t\\0 & 1\end{bmatrix}$. Then your new pose is then just $T_i$ multiplied by $\Delta T_{i+1}^{i}$(relative transform). For every new relative transform just do this concatenation. So $T_{i+1}=T_i*\Delta T_{i+1}^{i}$ Note:...