RSSI-based Graph SLAM Simulation Environment

This repo surves as an initial matlab prototype for Graph SLAM system.

For futher explaination, I refers reader to the research paper report, where I also implement a Robust SLAM algorithm with real-world measurement.

RSSI-Distance Relationship

The measurements are collected from ESP-32 BLE Beacon.

Ground Truth Trajectory

Artificially created ground truth walking path surrounded by 5 RSSI-based access point.

Loop Closures with RSSI matches

Low values corresponds to loop closures.

Measured (Drifted) Trajectory - 1

Artificially created measured walking path for the same ground truth trajectory with loop closures.

SLAM Optimization Results - 1

This optimization's results are from previous measurements that has only true positive loop closures.

Measured Trajectory with False Positives - 2

Several false positive loop closures added.

SLAM Optimization Results - 2

If there are false positive loop closures, the LM method cannot converge to a desired local minimum.