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Gmapping SLAM based on RBPF

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John Lee
John Lee el 5 de Mzo. de 2020
Comentada: Zuhair Abduljabbar el 15 de Mzo. de 2022
Is there any Gmapping SLAM based on RBPF?
I mean MATLAB version of gmapping-SLAM based on Rao-blackwellized particle filtering.
  2 comentarios
iman yazdansepas
iman yazdansepas el 15 de Mzo. de 2020
Hello John,
I have a same question. MATLAB has a library but I think it used graph SLAM.
sofar I find this: by Adrian Llopart Maurin, PhD student at the technical University of Denmark (DTU), 2016.
I'm not tested it yet. but i'm going to.
Thank you
John Lee
John Lee el 15 de Mzo. de 2020
Thanks for your comment.
I tested that code. Seems wokring well, but there is a too big approximation in "Measurement_Model.m" where
the author treis to compute the likelihood function based on more than 200 lidar scan.
I also tried to contact the author, and he has not replied.
So, I doubt the code and that is why I posted the question.

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Respuestas (1)

Amrtanshu Raj
Amrtanshu Raj el 7 de Sept. de 2021
Currently MATLAB has a LidarSlam which does not use any particle filter.
We have brought this to the notice of our developers and they might consider it for a future release.
  1 comentario
Zuhair Abduljabbar
Zuhair Abduljabbar el 15 de Mzo. de 2022
Hi Raj,
Could you mention the official URL of it (LiDARSLAM) , for seeing the theoritcal side of it (related papers)

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