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
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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