ELEC-E8111 - Autonomous Mobile Robots P, 26.02.2019-03.04.2019
Kurssiasetusten perusteella kurssi on päättynyt 03.04.2019 Etsi kursseja: ELEC-E8111
Lecture 5, March 12, 2019: Localization, mapping and SLAM = Simultaneous Localization and Mapping, idea; EKF SLAM
Localization, mapping and SLAM = Simultaneous Localization and Mapping, idea
- Main material as subset of ETH slides
- Kalman-filter based traditional vehicle
localization in the tractor-trailer -case.
Extended Kalman Filter SLAM (EKF SLAM)
Save videos for running. 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 be Nebot can be run in the 4_EKF_SLAM 2018.ppt -slide set.