Set of Algorithms used in Vision-based robotics, as a part of the Mobile Robotics Course (Monsoon, 2020).
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Updated
May 26, 2021 - Jupyter Notebook
Set of Algorithms used in Vision-based robotics, as a part of the Mobile Robotics Course (Monsoon, 2020).
Simple python implementation of Square Root SAM
MS-Mapping: Multi-session LiDAR Mapping with Wasserstein-based Keyframe Selection and Balanced Pose Graph
Pose Graph Optimzation using SymForce
Mobile Robotics Course @ IIIT Hyderabad (Fall 2021)
[TMECH'2024] Official codes of the paper. PALoc: Advancing SLAM Benchmarking with Prior-Assisted 6-DoF Trajectory Generation and Uncertainty Estimation
A ROS package for 2-D pose graph SLAM using open karto package for the front-end and g2o solver for the back-end.
Hackathon Implementation for Gymansts to become more perfect.
Developed and implemented 2D and 3D Pose Graph SLAM using the GTSAM library and Gauss Newton Solver on the Intel and Parking Garage g2o datasets respectively
Code for VICAN: Very Efficient Calibration Algorithm for Large Camera Networks, ICRA (2024)
This repo contains several concepts and implimentations of computer vision and visual slam algorithms for rapid prototyping for reserachers to test concepts.
a visual SLAM system performed on RGB-D images
Custom simulator with my implementations of EKF-, UKF-, and Pose-Graph-SLAM
Stereo Visual Odometry based SLAM demonstrated on the KITTI dataset. Based on OpenCV, Eigen, Sophus, Ceres Solver and ROS.
Motion Averaging
An implementation of the CPL-Sync algorithm for planar pose graph optimization (PGO)
A ROS package for 2-D pose graph SLAM using open karto package for the front-end and Google's Ceres solver for the back-end
SLAM-Supported Semi-Supervised Learning for 6D Object Pose Estimation
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