The Hexagonal Robot Example

Imagine a little wheeled robot driving in a circle. The tread measurement is a little sketchy, so as it progresses it gets a little less certain of where it is. But, each time it loops around, it's fairly certain it sees the same AprilTag. We construct this problem in SlamInDb/Graff, and show how the little guy is able to keep his cool as he progresses on his Sisyphean journey. Concepts highlighted:

1. Adding incremental odometry data

2. Adding data to poses

3. Adding factors like loop closures

4. Solver robustness when contradictory data is provided

5. Visualization

Source Code

The complete source code for this example can be found at The Hexagonal Robot Example.

An Overview of the Example