tianyeeee / modern-slam-tutorial-python

learning and feeling SLAM together with hands-on-experiments

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.

Contents

1. 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

• [e-mail]

Plan

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