This repo is a small practice and example to solve the pose graph SLAM problem using the GTSAM library on INTEL and Garage dataset provided by Dr. Luca Carlone. In cases below, both batch (Gauss-Newton) and incremental (iSAM) solutions are presented.
A detailed report can be found here.
Run
python hw_slam.py # All optimized trajectory figures are saved under figures/
- Python >= 3.8
- GTSAM >= 4.0
- See requirements.txt