COMP0130: Graph-based Optimisation and SLAM Coursework

Overview

This repository contains the coursework submissions for the COMP0130 module at University College London, focusing on Graph-based Optimisation and Simultaneous Localization and Mapping (SLAM) systems. The coursework is structured around implementing and testing a SLAM system using a graphical model approach with different sensor integrations in MATLAB using the g2o library.

Repository Structure

• COMP0130_-_23-24_CW_02.pdf: Coursework Instruction PDF
• COMP0130_CW2_GROUP_10.pdf: Coursework report
• /Code: MATLAB implementation for the questions

Setup

1. Clone this repository to your local machine.
2. Ensure MATLAB (version recommended by course guidelines) is installed on your system.

Usage

Each main task of the coursework is divided into different scripts, which can be executed independently:

• Q1 Scripts: Focus on vehicle motion prediction and sensor integration (odometry, compass, GPS).
• Q2 Scripts: Extend the system to perform SLAM and explore graph properties.
• Q3 Scripts: Discuss and implement performance improvements.

Run each script within MATLAB to perform the tasks described in the coursework document.