learning and feeling SLAM together with hands-on-experiments

Last update: Dec 22, 2022

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Overview

modern-slam-tutorial-python

Learning and feeling SLAM together with hands-on-experiments 😀 😃 😆

Dependencies

Most of the examples are based on GTSAM. use $ pip install gtsam and I prefer using conda environment.
- Also, I'll (want to) also use Pytorch to study recent differentiable factor-graph optimization works.

robust_pgo: a robust pose-graph optimization
- Tutorial video
- Dependencies: numpy, GTSAM (python)
- The datasets are available from https://lucacarlone.mit.edu/datasets/

To be continued ...

Contact

[email protected]

Plan

Other geometric optimization for SLAM
- Non-rigid ICP
- Rotation initialization
- ...
Trying GTSAM integration with Open3D, scipy, Pytorch, etc ...

Owner

Giseop Kim

Research Engineer at NAVER LABS

GitHub Repository

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