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?