Simultaneous localization and mapping (SLAM) is the problem of localizing the robot and creating a map of the environment at the same time. This project contains code for visual inertial SLAM algorithm using Extended Kalman Filter.
To install requirements:
pip install -r requirements.txt
To perform SLAM, run this script:
python slam_main.py
recommend to run this script in Python interactive.
- Stereo camera
- IMU
- kalman_filter.py
- calculating jacobain, kalman gain
- mapping.py
- landmark and pose estimation
- sensors.py
- IMU and stereo camera
- transform.py
- hat map, transformation between frames