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2D Range only SLAM

Project of probabilistic robotics 2021/2022

Goal

Estimate initial guess for the map from measurements and reduce error of trajectory and map using least square algorithm

Results

After Initial Guess:

  • landmark error: 3.081
  • pose error: 2.469

After 25 iterations:

  • Using only range measurements:

    • landmark error: 2.82
    • pose error: 2.56
  • Using range and odometry measurements:

    • landmark error: 1.569
    • pose error: 1.6767

Using also the odometry measurements in the least squares algorithm greatly reduce the error, but introduce some artifacts in the upper-right region of the path.

Results using range and odometry measurements

Notice problems on top-right corner but good accuracy on trajectory Results using range and odometry Results using range and odometry 2

Results using only range

Results using range Results using range 2

Running

Execute by running main.m

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Project of probabilistic robotics 2021/2022 Range only SLAM

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