Non-linear least-squares SLAM in Python using scipy and numpy. Modelled after Google's Ceres solver.
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README.md

pyslam

Non-linear least-squares SLAM in Python using scipy and numpy. Modelled after Google's Ceres solver.

Dependencies:

  • numpy (for most things)
  • scipy (for sparse linear algebra)
  • numba (for vectorization speedups)
  • liegroups

Installation

To install, cd into the repository directory (the one with setup.py) and run:

pip install -e .

The -e flag tells pip to install the package in-place, which lets you make changes to the code without having to reinstall every time.

Testing

Ensure you have pytest installed on your system, or install it using conda install pytest or pip install pytest. Then run pytest in the repository directory.