PyGraphSLAM is my basic implementation of graph SLAM in Python.

• Trying the improve
• Currently, the loop closure is really bad and not working reliably.

• g2opy https://github.com/uoip/g2opy

python slam.py --dataset intel --seed 123123

PyGraphSLAM is licensed under the MIT License.

-The icp.py is licensed under Apache License, Version 2.0

Original version can be found here: https://github.com/ClayFlannigan/icp

Modified icp to reject some pairs.

http://ais.informatik.uni-freiburg.de/slamevaluation/datasets.php