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Implementation of Least Squares Graph Optimization algorithm for graph-based SLAM.

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LS-graph-optimization-for-graph-based-SLAM

Implementation of Least Squares Graph Optimization algorithm for graph-based SLAM.

Content:

  • Papers -> materials used for the project
  • Data -> folder containing Graph Vertices and Edges data needed for the algorithm
  • Results -> folder containing resulting Graph images
  • pg_functions.py -> functions needed for the algorithm
  • pg_classes.py -> classes needed for Graph representation and optimization algorithm
  • main.py -> read data from Data folder, construct the graph, perform the optimization algorithm, plot results

Results:

Unoptimized_graph

Unoptimized_graph_with_constraints

Optimized_graph

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