Manhattan map on unoptimized graphs

README.md

1. Below are the manhattan graphs generated on both less noisy and more noisy unoptimized trajectory.
2. Both manhattan graphs from less and more noisy trajectories looks same, so we could do loop closure detection using MLP on both.

1. Less noisy unoptimized trajectory:
   
2. Manhattan graph on less noisy unoptimized trajectory:
   
3. More noisy unoptimized trajectory:
   
4. Manhattan graph on more noisy unoptimized trajectory:
   
5. Ground truth trajectory from cartographer: