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25 lines
652 B
ReStructuredText
Graph based SLAM
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This is a graph based SLAM example.
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The blue line is ground truth.
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The black line is dead reckoning.
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The red line is the estimated trajectory with Graph based SLAM.
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The black stars are landmarks for graph edge generation.
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.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/SLAM/GraphBasedSLAM/animation.gif
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.. include:: graph_slam/graphSLAM_doc.rst
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.. include:: graph_slam/graphSLAM_formulation.rst
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.. include:: graph_slam/graphSLAM_SE2_example.rst
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References:
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~~~~~~~~~~~
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- `A Tutorial on Graph-Based SLAM <http://www2.informatik.uni-freiburg.de/~stachnis/pdf/grisetti10titsmag.pdf>`_
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