learning and feeling SLAM together with hands-on-experiments

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Deep Learning slam gtsam python-slam
Overview

modern-slam-tutorial-python

  • Learning and feeling SLAM together with hands-on-experiments 😀 😃 😆

Dependencies

  • Most of the examples are based on GTSAM. use $ pip install gtsam and I prefer using conda environment.
    • Also, I'll (want to) also use Pytorch to study recent differentiable factor-graph optimization works.

Contents

  1. robust_pgo: a robust pose-graph optimization

To be continued ...

Contact

Plan

  • Other geometric optimization for SLAM
    • Non-rigid ICP
    • Rotation initialization
    • ...
  • Trying GTSAM integration with Open3D, scipy, Pytorch, etc ...
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Comments
  • Suggest requirement.txt in this repository

    Suggest requirement.txt in this repository

    안녕하세요. 좋은 tutorial 영상 및 코드 감사드립니다.
    제안 사항이 있는데요.

    Anaconda를 활용하여 환경을 구성하셨는데, requirement.txt를 같이 repository에 첨부하면 좋을 것 같습니다.

    저도 Anaconda를 활용해서 Tutorial 영상을 따라해보았는데요.

    실례가 되지 않는다면, 혹시 requirement.txt를 올리지 않을 예정이시면,
    제가 사용했던 가상환경 requirement.txt 파일을 PR로 보내도 될까요?

    저는 Ubuntu 18.04에서 실험을 진행해보았습니다.
    가상환경을 구성할 때,

    • python version : 3.7
    • pip install gtsam
    • pip install jupyterlab
    • pip install pytictoc
    • conda install jupyter

    을 활용했습니다!

    감사합니다. :smile:

    opened by Taeyoung96 3
  • requirements.txt 추가 및 Readme.md 수정

    requirements.txt 추가 및 Readme.md 수정

    Issue #1 에서 언급했던 부분을 PR을 보냈습니다!
    그에 맞게 Readme.md를 살짝 수정했는데 확인해주시면 감사드리겠습니다. :smile:
    CloudCompare이라는 Tool도 이 tutorial을 진행하면서 처음 설치를 해보았는데요.
    저처럼 처음 사용하시는 분들도 있으실 것 같아, Readme.md에 이 부분도 설명을 추가해보았습니다.

    opened by Taeyoung96 1
Owner
Giseop Kim
Research Engineer at NAVER LABS
Giseop Kim
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