Multi-modal belief propagation for robust SLAM

Dependencies

igraph

git clone https://github.com/igraph/igraph
cd igraph
mkdir build && cd build
cmake ..
make install

dlib

git clone https://github.com/davisking/dlib
cd dlib
mkdir build && cd build
cmake ..
make install

Example - Manhattan city 3500 (M-3500) data

build

git clone https://github.com/93won/mmp
cd nmp
mkdir build && cd build
cmake ..
make
./m3500

Result

iSAM2(red) / MH-iSAM2(blue) / Ours(green) / GT(gray)