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: 3 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 (over 5 years ago)
• Default Branch: master
• Last Pushed: 2019-12-12T12:50:30.000Z (about 5 years ago)
• Last Synced: 2023-03-11T07:08:04.639Z (almost 2 years ago)
• Topics: g2o, graph-slam, icp, lidar, odometry, pointcloud, robotics, slam
• Language: Python
• Size: 93.9 MB
• Stars: 60
• Watchers: 5
• Forks: 17
• Open Issues: 1
• 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)

### 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

* g2opy             https://github.com/uoip/g2opy

### Usage

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

``` bash

python slam.py --input intel.clf

```

For more options

```bash

python slam.py --help

```

### 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