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: