Graph-based SLAM (2D)

This repository contains conversion of airlab summer school 2020 gtsam/slam matlab scripts to the python scripts. For more detailed theoretical information, you can read "A Tutorial on Graph-Based SLAM" article and take a look at "Mobile Sensing and Robotics 2" - Graph-based SLAM using Pose Graphs and Graph-Based SLAM with Landmarks lectures given by Cyrill Stachniss at the University of Bonn.

Graph-based SLAM : Build the graph and find a node configuration that minimize the error introduced by the constraints.

$x_n =$ robot poses

$u_n =$ odometry measurements

$m_n =$ landmark measurements

$l_n =$ landmark positions

Detailed information is available in (SLAM.ipynb).

Update: Added conversion of GTSAM c++ code to python code. (GTSAM.ipynb)