Our implementation for the "DeepMapping: Unsupervised Map Estimation From Multiple Point Clouds" paper.

Steps to run the repository:

To extract 2D Data:

  tar -xvf ./data/2D/all_poses.tar -C ./data/2D/

To train in unsupervised manner:

  run_train_2D.sh

To train using warmstart approach:

  run_icp.sh

To run evaluation script:

  run_eval_2D.sh

Other branches contain implementations of the same code using different algorithms/approaches.