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Source code for "Eigen-factors a bilevel optimization for plane SLAM of 3D point clouds"
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prime-slam/EF-plane-SLAM
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This repository contains all required scripts and notebooks to compare quality of different SLAM Backendsusing planes as landmarks.
As the data source we provide two variants:EVOPS datasetand synthetic planar poses generator frommrob library.
For comparison needs two algorithms except origin EF backend are implemented inmrob library. They are:
You can see examples of backend comparisons in two Python notebooks:
eval_icl.ipynb--- example of backend comparison on data from EVOPS dataset (sequence based onICL NUIM Living Room kt0 trajectory)eval_synthetic.ipynb--- example of backend comparison on synthetic data generated byCreatePointsmethod frommrob library
To compare SLAM backends predicted trajectories on perturbed origin poses are compared with ground truth poses using classicape andrpe metrics.