SLAM for Dummies
1 slam for Dummies A Tutorial Approach to Simultaneous Localization and Mapping By the Dummies S ren Riisgaard and Morten Rufus Blas 2 1. Table of contents 1. TABLE OF 2. INTRODUCTION ........................................ ........................................ ...................................4 3. ABOUT slam ........................................ ........................................ ........................................ 6 4. THE THE THE RANGE MEASUREMENT 5. THE slam PROCESS ........................................ ........................................ .........................10 6. LASER DATA ........................................ ........................................ .......................................1 4 7. ODOMETRY DATA.
robot. This is accomplished by extracting features from the environment and re-observing when the robot moves around. An EKF (Extended Kalman Filter) is the heart of the SLAM process. It is responsible for updating where the robot thinks it is based on these features. These features are commonly called landmarks and will be
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