IntroductionIn the few past years. SLAM (Simultaneous Localization and Mapping) has been widely researched. This problem involves constructing a map of an unknown environment while simultaneously keeping track of the surroundings and the agent. There are many techniques to solve this problem, one of them is related with the type of map. The two classes maps known are the topological maps and the grid based maps. For this post, I have done research in how to build a grid based map, and the implications needed to solve the problem. A implementation using a 3D sensor (Kinect) was used to build the map. Additionally, a simulation was done to show the performance of such approach. The Occupancy grid map is a widely use technique in robotics. You can Download the code from the National Instruments website. If you want to download the work thesis, feel free to do it. Just remember to make a reference in your work.
Instead of adding a lot of equations of explanations about how it was done. You can take a look to my thesis. Where I discuss in detail the math and the implementation behind it.
1 Comment
2/22/2017 02:42:58 pm
i ask for links to start mapping with kinect using labview.
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About meEvery venture in an unknown territory is exciting to me. I ended up working with autonomous robots using knowledge from fields such as; computer vision, Bayesian estimation, control theory, neural networks, and SLAM. I have always been fascinated by aerial and ground mobile vehicles. Thankfully I had the chance to work on algorithms that bring them to life. Archives |