Lecture 6, March 8, 2017
Extended Kalman Filter SLAM (EKF SLAM)
A video haehnel-RawOdometry-anim.avi demonstrates mapping with raw odometry localization - Just mapping, not SLAM. I odometry errors accumulate quickly too large.
A video haehnel-ScanMatching-anim.avi demonstrates first real SLAM, localization on the basis of laser scan matching, only one estimate for pose, Mapping works
file slam.pdf, EKF SLAM video can be run in the slam 2017.ppt -slide set
Particle filter and Fast SLAM
Particle filters are introduced in particle-filters 2017.pdf and .ppt.
Fast SLAM: You can run videos in the fast SLAM 2017.ppt -slide set. pdf available, too.
Some Fast SLAM videos added as separate files.
bruceton-one-loop.avi ; fastslam-dmb-fastslam.avi ; haehnel-ScanMatchingFastSLAM-Seattle-anim-2.avi