Simple Python implementation of Square Root SAM for study

It is implemented by referring to the following repository and source code

• https://github.com/tmadl/python-LS-SLAM
• http://www.dis.uniroma1.it/~grisetti/teaching/lectures-ls-slam-master/web/lectures/practicals/ls-slam.tgz

Dataset

• MIT Killian Court(2D)
• http://ais.informatik.uni-freiburg.de/slamevaluation/datasets.php

To Do

• Sparse solver
• Variable reordering

Reference

[1] Dellaert, Frank & Kaess, Michael. (2006). Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing. I. J. Robotic Res.. 25. 1181-1203.

[2] Dellaert, Frank & Kaess, Michael. (2017). Factor Graphs for Robot Perception. Foundations and Trends in Robotics. 6. 1-139.

[3] Grisetti, Giorgio & Kümmerle, Rainer & Stachniss, Cyrill & Burgard, Wolfram. (2010). A tutorial on graph-based SLAM. IEEE Transactions on Intelligent Transportation Systems Magazine. 2. 31-43.