kollagen: A Collaborative SLAM Pose Graph Generator
Roberto C. Sundin,David Umsonst,Roberto C. Sundin,David Umsonst
In this paper, we address the lack of datasets for – and the issue of reproducibility in – collaborative SLAM pose graph optimizers by providing a novel pose graph generator. Our pose graph generator, kollagen, is based on a random walk in a planar grid world, similar to the popular M3500 dataset for single agent SLAM. It is simple to use and the user can set several parameters, e.g., the number o...
