Python Implementation of Graph SLAM

PyGraphSLAM is my basic implementation of graph SLAM in Python.

GIF

Occupancy Map

Usage

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

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

• If you have nix:

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