Reusable factor-graph tools for trajectory alignment and semantic SLAM
Project description
Orchards Semantic SLAM
Factor-graph python package on top of gtsam for:
- GPS-odometry trajectory alignment
- Semantic mapping with landmark observations (for example trees)
Installation
Using uv:
uv sync
uv pip install -e .
Run Examples
Alignment-only example:
python examples/trajectory_alignment.py
Semantic full-SLAM example (joint robot pose + landmarks):
python examples/semantic_slam.py
Related Publication
Part of this codebase was developed for the following paper:
Rapado-Rincon, D., & Kootstra, G. (2025). Tree-SLAM: semantic object SLAM for efficient mapping of individual trees in orchards. Smart Agricultural Technology, 101439.
DOI: https://doi.org/10.1016/j.atech.2025.101439
Note: not all methods from the paper are ported into this library for simplicity.
Release history Release notifications | RSS feed
Download files
Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
Source Distribution
Built Distribution
Filter files by name, interpreter, ABI, and platform.
If you're not sure about the file name format, learn more about wheel file names.
Copy a direct link to the current filters
File details
Details for the file orchards_semantic_slam-0.1.0.tar.gz.
File metadata
- Download URL: orchards_semantic_slam-0.1.0.tar.gz
- Upload date:
- Size: 419.7 kB
- Tags: Source
- Uploaded using Trusted Publishing? Yes
- Uploaded via: twine/6.1.0 CPython/3.13.12
File hashes
| Algorithm | Hash digest | |
|---|---|---|
| SHA256 |
4dd42eba4c03328ce57e203ab28db721dd4dfb73ce605635e7cc5b3614935562
|
|
| MD5 |
0ca18e89c19495182facbcd2a9686128
|
|
| BLAKE2b-256 |
18183d836b7efd3c0489185ba7577eadcf9636261f64ff83d10de83ac678039a
|
Provenance
The following attestation bundles were made for orchards_semantic_slam-0.1.0.tar.gz:
Publisher:
publish.yml on WUR-ABE/orchards-semantic-slam
-
Statement:
-
Statement type:
https://in-toto.io/Statement/v1 -
Predicate type:
https://docs.pypi.org/attestations/publish/v1 -
Subject name:
orchards_semantic_slam-0.1.0.tar.gz -
Subject digest:
4dd42eba4c03328ce57e203ab28db721dd4dfb73ce605635e7cc5b3614935562 - Sigstore transparency entry: 1293445603
- Sigstore integration time:
-
Permalink:
WUR-ABE/orchards-semantic-slam@e9bb5b66e850b5fe669ecf4248b082dbf2a239c1 -
Branch / Tag:
refs/tags/v0.1.0a - Owner: https://github.com/WUR-ABE
-
Access:
public
-
Token Issuer:
https://token.actions.githubusercontent.com -
Runner Environment:
github-hosted -
Publication workflow:
publish.yml@e9bb5b66e850b5fe669ecf4248b082dbf2a239c1 -
Trigger Event:
push
-
Statement type:
File details
Details for the file orchards_semantic_slam-0.1.0-py3-none-any.whl.
File metadata
- Download URL: orchards_semantic_slam-0.1.0-py3-none-any.whl
- Upload date:
- Size: 27.2 kB
- Tags: Python 3
- Uploaded using Trusted Publishing? Yes
- Uploaded via: twine/6.1.0 CPython/3.13.12
File hashes
| Algorithm | Hash digest | |
|---|---|---|
| SHA256 |
162b81893252da8e0cf7b00e9a53b706e0766ecb2852eb3b6723df8bbf23e81d
|
|
| MD5 |
28152af4fbdd02ab5979e9031ef844d1
|
|
| BLAKE2b-256 |
25873bd34242b8cebf5db7f1d8b05ee97f5b15b58603bd30c0cd7b1a83c0d677
|
Provenance
The following attestation bundles were made for orchards_semantic_slam-0.1.0-py3-none-any.whl:
Publisher:
publish.yml on WUR-ABE/orchards-semantic-slam
-
Statement:
-
Statement type:
https://in-toto.io/Statement/v1 -
Predicate type:
https://docs.pypi.org/attestations/publish/v1 -
Subject name:
orchards_semantic_slam-0.1.0-py3-none-any.whl -
Subject digest:
162b81893252da8e0cf7b00e9a53b706e0766ecb2852eb3b6723df8bbf23e81d - Sigstore transparency entry: 1293445612
- Sigstore integration time:
-
Permalink:
WUR-ABE/orchards-semantic-slam@e9bb5b66e850b5fe669ecf4248b082dbf2a239c1 -
Branch / Tag:
refs/tags/v0.1.0a - Owner: https://github.com/WUR-ABE
-
Access:
public
-
Token Issuer:
https://token.actions.githubusercontent.com -
Runner Environment:
github-hosted -
Publication workflow:
publish.yml@e9bb5b66e850b5fe669ecf4248b082dbf2a239c1 -
Trigger Event:
push
-
Statement type:
