cumtchenchang / MASAT_IG_for_SLAM

Finding sufficient initial guesses for offline SLAM

MASAT intial guess for SLAM

This repository contains the code for the MASAT algorithm.

Guide

Compile:

./make

Run:

./MASAT 'path_input_file' 'path_to_output_file'

The input files must be in .g2o format. There are some examples in the 'input_data' folder.

Once the inital guess is finished, we suggest using the g2o framework for optimization and visualization.

数据：http://mplab.sztaki.hu/masat_slam/masat_slam_data.zip

Requirements

• Eigen (http://eigen.tuxfamily.org)