Graph based SLAM

This is a graph based SLAM example.

The blue line is ground truth.

The black line is dead reckoning.

The red line is the estimated trajectory with Graph based SLAM.

The black stars are landmarks for graph edge generation.

.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/GraphBasedSLAM/animation.gif

Code Link


.. autofunction:: SLAM.GraphBasedSLAM.graph_based_slam.graph_based_slam


.. include:: graphSLAM_doc.rst
.. include:: graphSLAM_formulation.rst
.. include:: graphSLAM_SE2_example.rst

Reference
~~~~~~~~~~~

- `A Tutorial on Graph-Based SLAM <http://www2.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10titsmag.pdf>`_