sid7vasa / DL-SLAM

Deep learning based SLAM system for LIDAR point clouds

DL-SLAM

Deep learning based SLAM system for LIDAR point clouds Data Link: https://drive.google.com/drive/folders/1cwIiqs6MCpFtHBbAngdbRPtxqMpNU9Is?usp=share_link

A few points about this repository:

• We have used code from GTSAM, PyICPSlam to build our base SLAM model.
• We used PCRNET code as the starting point. We wrote various scripts and defined custom models and performed analysis.
• We collected CARLA data using the carla python client.
• We integrated PyGame with CARLA to control data collection.
• We have written code to handle various data processing strategies, metrics calculation, visualizations to aid our development process.