Transcription of Practical Course WS 2010 Simultaneous Localization and …
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Practical Course WS 2010 Simultaneous Localization and …
Cyrill Stachniss University of Freiburg, Germany Practical Course WS 2010 Simultaneous Localization and mapping Topics of this Course SLAM - Simultaneous Localization and mapping What does the world look like? Where am I given my world model? Task is to build a complete robotic SLAM system that operates on Wheeled base ( Pioneer robot) Laser range scanner (SICK LMS or similar) Use of real world data Goal of this Course Hands-on development of a robotic mapping system Deeper understanding of the SLAM problem Practical programming experience Team work First experience in planning a software project Project Structure Teams of three people Everyone has an own task/component to develop within the project Team members are supposed to help each other (tasks may not be equally difficult) Components interact via predefined interfaces Requirements (1)
Practical Course WS 2010 Simultaneous Localization and Mapping . Topics of this Course SLAM - simultaneous localization and ... SLAM = simultaneous localization and mapping Constraints connect the poses of the robot while it is moving (odometry) ... “Tutorial on Graph-based SLAM” by Grisetti, Kuemmerle, Stachniss, Burgard ...
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