06 Aug

There are several existing visual-inertial SLAM implementations. Among all, I pick okvis as our development basis. However, the okvis project is too well-written with sophisticated implementation. There are also some building problem. In summary, it is pretty hard for us to develop, especially fro...

16 Jul

I wrote a 2D SLAM simulation on Python as a starting point. I implemented the nonlinear least squares (NLS) SLAM. To be specific, it is just to solve: \((\hat{s}_{1:n}, \hat{\lambda}) = {arg\,min}_{({s}_{1:n}, {\lambda})}\, \sum_{t=0}^{n-1} \| s_{t+1} - f(s_t, u_t) \|^2_{Q} + \sum_{t=1}^n \| o_t -...

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