# Square-Root-SAM

**Repository Path**: nie_xun/Square-Root-SAM

## Basic Information

- **Project Name**: Square-Root-SAM
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-07-20
- **Last Updated**: 2024-07-20

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Simple Python implementation of Square Root SAM for study

![result](https://user-images.githubusercontent.com/38591115/85345933-d5e68980-b52e-11ea-9ac1-1339a2d30255.png)

### It is implemented by referring to the following repository and source code   
- https://github.com/tmadl/python-LS-SLAM   
- http://www.dis.uniroma1.it/~grisetti/teaching/lectures-ls-slam-master/web/lectures/practicals/ls-slam.tgz


### Dataset   
  - MIT Killian Court(2D)   
  - http://ais.informatik.uni-freiburg.de/slamevaluation/datasets.php


### To Do   
  - Sparse solver   
  - Variable reordering   

### Reference       

  [1] Dellaert, Frank & Kaess, Michael. (2006). Square Root SAM: Simultaneous Localization and Mapping via Square Root Information   Smoothing. I. J. Robotic Res.. 25. 1181-1203.   
   
  [2] Dellaert, Frank & Kaess, Michael. (2017). Factor Graphs for Robot Perception. Foundations and Trends in Robotics. 6. 1-139. 

  [3] Grisetti, Giorgio & Kümmerle, Rainer & Stachniss, Cyrill & Burgard, Wolfram. (2010). A tutorial on graph-based SLAM. IEEE Transactions on Intelligent Transportation Systems Magazine. 2. 31-43.