MarineRoboticsGroup/PyFactorGraph

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Python
Created almost 3 years ago
Updated 10 months ago

MarineRoboticsGroup/PyFactorGraph

MarineRoboticsGroup

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A python factor graph object for SLAM problems

dcsam

Factored inference for discrete-continuous smoothing and mapping.

mixtures_semantic_slam

Probabilistic Data Association via Mixture Models for Robust Semantic SLAM

mac

Maximizing algebraic connectivity for graph sparsification

score

Official implementation of "SCORE: Second Order Conic Initialization for RA-SLAM"

NF-iSAM

The codebase of normalizing flows for incremental soomthing and mapping (NF-iSAM). The datasets used for performance evaluation are provided as well.

dcsam-examples

Tutorial examples and sample applications for DC-SAM.

cora

Official implementation of "Certifiably Correct Range-Aided SLAM"

graff_cpp

A C++ interface to the Caesar.jl framework using JSON over ZeroMQ.

SwarmRobot

Documentation and code for The Thoroughbreds, the Marine Robotics Group's custom made robot swarm for range-based SLAM experiments.

underwater-experiments

cora-experiments

Experiments from "Certifiably Correct Range-Aided SLAM"

lcgp

Planning for multi-robot networks localizing via range measurements.

tonioviz

Finally, a nice C++ visualization tool.

nsfg

dcsam2022tr

Technical report on Discrete-Continuous Smoothing and Mapping

gtsam-range-aided-slam

A GTSAM-based solver for range-aided SLAM problems

manhattan-world-sim

LatexUtils

sparse2022tr

Supplement to Spectral Measurement Sparsification for Pose-Graph SLAM, submitted to IROS 2022