goktug97/PyGraphSLAM

How do I replicate generating this map ?

pra-dan opened this issue · 3 comments

pra-dan commented

Hi @goktug97 Thanks for this resource.

Can you please tell me how did you get the map in the first place ? Actually, I am starting with SLAM and currently need to understand graph SLAM, and how it starts with a map ...

Thanks and Regards,
Prashant

goktug97 commented

You don't have a map at the beginning. You map the environment and localize yourself in the map you've built. Basicly, when you have multiple laser scans of the environment, you can calculate the transformation and rotation between those points and arrange the said points accordingly which creates the map.
http://ais.informatik.uni-freiburg.de/teaching/ss19/robotics/ is a great course

pra-dan commented

Ohk. Thanks. Can you suggest me what should be done if I have the following sensors:
RGBD stereo camera (Intel RealSense D45)
IMU
GPS
WHeel odometry data

Thanks for the course link.. I will look into it. 👍🏽