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

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

Usage

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

python slam.py --input intel.clf

For more options

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