diff --git a/examples/Data/noisyToyGraph.txt b/examples/Data/noisyToyGraph.txt
new file mode 100644
index 000000000..747f8da1c
--- /dev/null
+++ b/examples/Data/noisyToyGraph.txt
@@ -0,0 +1,9 @@
+VERTEX_SE2 0 0.000000 0.000000 0.000000
+VERTEX_SE2 1 0.774115 1.183389 1.576173
+VERTEX_SE2 2 -0.262420 2.047059 -3.127594
+VERTEX_SE2 3 -1.605649 0.993891 -1.561134
+EDGE_SE2 0 1 0.774115 1.183389 1.576173 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 1 2 0.869231 1.031877 1.579418 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 2 3 1.357840 1.034262 1.566460 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 2 0 0.303492 1.865011 -3.113898 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 0 3 -0.928526 0.993695 -1.563542 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
diff --git a/examples/Data/optimizedNoisyToyGraph.txt b/examples/Data/optimizedNoisyToyGraph.txt
new file mode 100644
index 000000000..217a76fb1
--- /dev/null
+++ b/examples/Data/optimizedNoisyToyGraph.txt
@@ -0,0 +1,9 @@
+VERTEX_SE2 0 0.000000 -0.000000 0.000000
+VERTEX_SE2 1 0.955797 1.137643 1.543041
+VERTEX_SE2 2 0.129867 1.989651 3.201259
+VERTEX_SE2 3 -1.047715 0.933789 4.743682
+EDGE_SE2 0 1 0.774115 1.183389 1.576173 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 1 2 0.869231 1.031877 1.579418 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 2 3 1.357840 1.034262 1.566460 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 2 0 0.303492 1.865011 -3.113898 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 0 3 -0.928526 0.993695 -1.563542 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
diff --git a/examples/Data/orientationsNoisyToyGraph.txt b/examples/Data/orientationsNoisyToyGraph.txt
new file mode 100644
index 000000000..ada372a8e
--- /dev/null
+++ b/examples/Data/orientationsNoisyToyGraph.txt
@@ -0,0 +1,9 @@
+VERTEX_SE2 0 0.000000 0.000000 0.000000
+VERTEX_SE2 1 0.000000 0.000000 1.565449
+VERTEX_SE2 2 0.000000 0.000000 3.134143
+VERTEX_SE2 3 0.000000 0.000000 4.710123
+EDGE_SE2 0 1 0.774115 1.183389 1.576173 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 1 2 0.869231 1.031877 1.579418 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 2 3 1.357840 1.034262 1.566460 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 2 0 0.303492 1.865011 -3.113898 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000
+EDGE_SE2 0 3 -0.928526 0.993695 -1.563542 1.000000 0.000000 0.000000 1.000000 0.000000 1.000000