sverdoot / random-fourier-features-slam

Python implementation of the paper Random Fourier Features based SLAM (https://arxiv.org/pdf/2011.00594.pdf)

Random Fourier Features based SLAM

This repository contains python implementation of method from the paper Random Fourier Features based SLAM.

Table of content

• Repository structure
• Installation
• Usage

Repository structure

.
├── README.md
├── requirements.txt
├── setup.py
├── run_experiment.sh
├── dump
├── data
├── figs
├── notebooks
|   ├── plot_results.ipynb
|   └── generate_data.ipynb
└── src
    ├── __init__.py
    ├── main.py
    ├── model.py
    ├── random_features.py
    ├── data_utils.py
    ├── demo.ipynb
    ├── experiments.ipynb
    ├── observation.py
    └── utils.py

Installation

in the home dir:

cd [VENV]
virtualenv rff_slam
source rff_slam/bin/activate

back in the project dir:

pip install -r requirements.txt
pip intsall -e .
chmod +x ./run_experiment.sh

Usage

run a single slam example:

python src/main.py -v --obs_model range-bearing --plot_traj

run a whole experiment:

./run_experiment.sh true