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Authors:
Morten Rufus Blas,
Soren Riisgaard, May 2004
SLAM TutorialCourse 6.834 Cognitive Robotics
SLAM for Dummies
Authors:
Morten Rufus Blas,
Soren Riisgaard, May 2004
Outline
Project backgroundGoal for the projectPrevious workProgressImplementationScreenshotsConclusion
Authors:
Morten Rufus Blas,
Soren Riisgaard, May 2004
Project background
Joint project between three courses:Cognitive Robotics: SLAM Tutorial and ImplementationEmbodied Intelligence: Behavior (APU)Principles of Computer Systems: System design
Great to be able to combine theseAllows bigger projects
Authors:
Morten Rufus Blas,
Soren Riisgaard, May 2004
Goal
Output is an easy-to-use manual ofSLAMTutorial style reportUnderstandable by someone new to the fieldShould make it easy to create a basicbut complete implementation – a foundation for additions
Authors:
Morten Rufus Blas,
Soren Riisgaard, May 2004
Previous work
Lots of work within the fieldMost papers focus on innovationsNo real basic introduction
No complete step by step guide.Many focus on one aspect (e.g. EKF).
Authors:
Morten Rufus Blas,
Soren Riisgaard, May 2004
Complete SLAM, overview
Landmark extractionRANSACSpikes
Data association/landmark pruningLandmark policiesValidation gate
EKF odometry updateEKF re-observationEKF new landmark
Authors:
Morten Rufus Blas,
Soren Riisgaard, May 2004
Progress
Basic SLAM implementation nearly doneDetailed description:
Choice of hardwareLandmarksData associationEKFAll variablesOutputNormal mistakesHow to tune the EKF
Authors:
Morten Rufus Blas,
Soren Riisgaard, May 2004
The implementation
Done in C#Code is easy to readCan be read as pseudocodedrivers for hardwareWill be available as a library
Authors:
Morten Rufus Blas,
Soren Riisgaard, May 2004
Screenshots
Authors:
Morten Rufus Blas,
Soren Riisgaard, May 2004
Conclusion
A comprehensive tutorialThere is really a need for itEnables lots of people to get up to speedCould bring more research into thefield?
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