https://github.com/goktug97/pygraphslam

Python implementation of Graph SLAM
https://github.com/goktug97/pygraphslam

g2o graph-slam icp lidar odometry pointcloud robotics slam

Last synced: about 2 months ago
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Python implementation of Graph SLAM

• Host: GitHub
• URL: https://github.com/goktug97/pygraphslam
• Owner: goktug97
• License: mit
• Created: 2019-10-30T11:34:41.000Z (about 6 years ago)
• Default Branch: master
• Last Pushed: 2025-03-10T20:42:43.000Z (9 months ago)
• Last Synced: 2025-05-19T18:06:49.719Z (7 months ago)
• Topics: g2o, graph-slam, icp, lidar, odometry, pointcloud, robotics, slam
• Language: Python
• Size: 100 MB
• Stars: 86
• Watchers: 4
• Forks: 19
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
Python Implementation of Graph SLAM

===================================

PyGraphSLAM is my basic implementation of graph SLAM in Python.

### GIF

![GIF](https://raw.githubusercontent.com/goktug97/PyGraphSLAM/master/pygraphslam.gif)

### Occupancy Map

![GIF](https://raw.githubusercontent.com/goktug97/PyGraphSLAM/master/pygraphslam_occupancy.gif)

### Usage

You can download datasets from http://ais.informatik.uni-freiburg.de/slamevaluation/datasets.php

``` bash

python -m src.slam --input intel.clf

```

- If you have nix:

```bash

nix run . -- --input intel.clf

```

### License

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