A simple 2D graph-slam system based on ICP in python 3. For Intel dataset, first 2000 datapoints would look like this:
where the green dots are localization after optimization and blue dots are the map.
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scipy
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numpy
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sklearn
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unittest
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matplotlib (for plotting only)
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g2opy
To install g2opy: https://github.com/uoip/g2opy#installation
The datasets used in this SLAM demo are from http://ais.informatik.uni-freiburg.de/slamevaluation/datasets.php
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aces
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intel
Install the required packages first and then run python3 setup.py install under the root directory
Download the data from http://ais.informatik.uni-freiburg.de/slamevaluation/datasets.php
Run python3 read_data.py under utils to convert the data to the .npy dataset
Run python3 graph_slam.py intel 0.1 to use icp for 2D SLAM. intel is the dataset name, 0.1 is the threshold for adding an edge to the graph