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Localization, Mapping, SLAM and The Kalman Filter ...

RI 16-735, Howie Choset, with slides from george Kantor, Hager, and D. FoxLocalization, mapping , slam and The Kalman Filter according to GeorgeRobotics Institute 16-735 ~motionHowie ~chosetRI 16-735, Howie Choset, with slides from george Kantor, Hager, and D. FoxThe Problem What is the world around me ( mapping ) sense from various positions integrate measurements to produce map assumes perfect knowledge of position Where am I in the world ( localization ) sense relate sensor readings to a world model compute location relative to model assumes a perfect world model Together, these are slam (Simultaneous localization and mapping )RI 16-735, Howie Choset, with slides from george Kantor, Hager, and D.

RI 16-735, Howie Choset, with slides from George Kantor, G.D. Hager, and D. Fox Localization, Mapping, SLAM and The Kalman Filter according to George

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