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.
The measurements are collected from ESP-32 BLE Beacon.
Artificially created ground truth walking path surrounded by 5 RSSI-based access point.
Low values corresponds to loop closures.
Artificially created measured walking path for the same ground truth trajectory with loop closures.
This optimization's results are from previous measurements that has only true positive loop closures.
Several false positive loop closures added.
If there are false positive loop closures, the LM method cannot converge to a desired local minimum.
