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SLAM Map Building

SLAM Map Building. Combine all laser scans to build m aps using CoreSLAM ( simultaneous localization and mapping) Mapping video here prease …. Monte Carlo Localization. Create random list of possible locations of robot Monte Carlo Localization Cycle:

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SLAM Map Building

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  1. SLAM Map Building • Combine all laser scans to buildmaps using CoreSLAM (simultaneous localization and mapping) • Mapping video here prease…

  2. Monte Carlo Localization • Create random list of possible locations of robot • Monte Carlo Localization Cycle: • Move: Move all points based on change in odometry • Sense: Compare the laser scan from segmented image with laser scans at possible locations • Resample: Redistribute points based on probability at each location

  3. Monte Carlo Localization • Prease put video here…

  4. Scan Matching • Match two consecutive laser scans and find the corresponding transformation • Can be used to correct poor odometry • Scan Matching pic here prease…

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