# PoseOptimizationSLAM3D
3D (x, y, z, qw, qx, qy, qz) pose optimization SLAM

## How to use 
1. Download data  

~~~
python data_downloader.py
~~~

2. run SLAM 

~~~
python pose_optimization_slam_3d.py
~~~

## Reference 
- [A Compact and Portable Implementation of Graph\-based SLAM](https://www.researchgate.net/publication/321287640_A_Compact_and_Portable_Implementation_of_Graph-based_SLAM)  

- [GitHub \- furo\-org/p2o: Single header 2D/3D graph\-based SLAM library](https://github.com/furo-org/p2o)  

- [GitHub \- AtsushiSakai/PythonRobotics
/SLAM/PoseOptimizationSLAM](https://github.com/AtsushiSakai/PythonRobotics/tree/master/SLAM/PoseOptimizationSLAM)

- [リー代数による3次元ポーズ調整\(Pose Adjustment\)\[PythonRobotics\]\[SLAM\] \- Qiita](https://qiita.com/saitosasaki/items/a0540cba994f08bf5e16#comment-3e6588e6b096cc2567d8)
