Assignment 3 - Loop closure and Pose-Graph Optimization Exercise

Instructions:

Go to the following git repository: https://github.com/brytsknguyen/oblam_pgo Links to an external site.

Follow instructions to download data and install dependencies + the package.

Study the codes. Hit Ctrl+F to find "ASSIGNMENT" tags, fill in with your code to detect the loop and perform pose-graph optimization. If your loop closure method works, you should see the following:

After running each sequence, there will be one KfCloudPoseOptimized.pcd written under the data path. This can be used to calculate the ATE. Use the ground truth file in the data path.

Acessment:

1. Write a report on your approach to the loop closure. Show the ATE of the trajectory with and without loop closure.

2. Show the code working in review day.