https://github.com/rsasaki0109/poseoptimizationslam3d

Python sample code of 3D pose optimization SLAM
https://github.com/rsasaki0109/poseoptimizationslam3d

localization mapping optimization robotics slam

Last synced: 7 months ago
JSON representation

Python sample code of 3D pose optimization SLAM

• Host: GitHub
• URL: https://github.com/rsasaki0109/poseoptimizationslam3d
• Owner: rsasaki0109
• License: mpl-2.0
• Created: 2019-09-06T17:28:50.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2023-05-04T09:51:58.000Z (over 2 years ago)
• Last Synced: 2025-06-11T00:08:53.103Z (7 months ago)
• Topics: localization, mapping, optimization, robotics, slam
• Language: Python
• Homepage:
• Size: 481 KB
• Stars: 72
• Watchers: 1
• Forks: 8
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

          
# PoseOptimizationSLAM3D

3D (x, y, z, qw, qx, qy, qz) pose optimization SLAM

1. Download data  

~~~

python script/data_downloader.py

~~~

2. run SLAM 

~~~

python script/pose_optimization_slam_3d.py

~~~

# Result

parking-garage.g2o data

step 1  

![demo](./images/parking-garage_step1.png)  

step 10  

![demo](./images/parking-garage_step10.png)  

 

standard output  

![demo](./images/output.png)  

sphere2200_guess.g2o  

![demo](./images/sphere2200_guess.g2o.png)  

torus3d_guess.g2o  

![demo](./images/torus3d_guess.g2o.png)  

# Reference 

[A Compact and Portable Implementation of Graph\-based SLAM](https://www.researchgate.net/publication/321287640_A_Compact_and_Portable_Implementation_of_Graph-based_SLAM)  

[GitHub \- furo\-org/p2o: Single header 2D/3D graph\-based SLAM library](https://github.com/furo-org/p2o)  

[GitHub \- AtsushiSakai/PythonRobotics

/SLAM/PoseOptimizationSLAM](https://github.com/AtsushiSakai/PythonRobotics/tree/master/SLAM/PoseOptimizationSLAM)