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Python Implementation of Graph SLAM
PyGraphSLAM is my basic implementation of graph SLAM in Python.
GIF
Notes
- Trying to improve accuracy, currently the code looks like a scratch book.
- Currently, the loop closure is really bad and not working reliably.
- Needs grid mapping
Requirements
Usage
You can download datasets from http://ais.informatik.uni-freiburg.de/slamevaluation/datasets.php
python slam.py --input intel.clfFor more options
python slam.py --helpLicense
PyGraphSLAM is licensed under the MIT License.
-The icp.py is licensed under Apache License, Version 2.0
Original version can be found here: https://github.com/ClayFlannigan/icp
Modified icp to reject some pairs.
Datasets
http://ais.informatik.uni-freiburg.de/slamevaluation/datasets.php