SLAM example

[ali-robot]

Hello

This project seems very interesting, thanks for sharing it.

Could you please provide an example of a SLAM implementation using in the examples section using a popular dataset (KITTI or oxford dataset for example)?

This would be a very helpful example to learn how to use the library.

Thanks in advance

[brentyi]

Hi!

Yes, this is something I can look into. Do you have suggestions for a similar example using a different library/framework/language? The easiest thing would probably be to just reproduce something that exists.

In the meantime, the PoseSLAM-style example script may be useful.

You can see how the factor graph is defined and solved in the scripts directory: https://github.com/brentyi/jaxfg/blob/master/scripts/pose_graph_simple.py

As well as how we define variables/manifolds here, and factors here.

[ali-robot]

Hi again,

excuse me, I thought that I have replied! Thanks for the example, I will check it :) Here's a suggestion: https://github.com/koide3/open3d_graph_slam

In this implementation he is using the KITTI dataset: http://www.cvlibs.net/datasets/kitti/ It would awesome if you consider the oxford dataset: https://robotcar-dataset.robots.ox.ac.uk/ https://oxford-robotics-institute.github.io/radar-robotcar-dataset/ https://oxford-robotics-institute.github.io/radar-robotcar-dataset/datasets It tackles the issue of longterm navigation (you can find lidar scans over periods of time)