Transcription of Simultaneous Localization & Mapping
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Simultaneous Localization & Mapping
Simultaneous Localization & MappingF1/10thAutonomous Racing Paril JainPrevious Week2 IMU and LIDARL ocalizationPID ControlLimitations : Basic Path Planning High Level Path Assignments 2ndright, 2ndright, 1stright, 1stleft, 1stright 3 Race Lines4 Limitations : No Future Information5 System Overview6 MappingLocalizationPath PlanningControlSystem Overview7 Hector SLAMM appingLocalizationPath PlanningControlSLAM : A Chicken-Egg problem8 MAPLOCALIZATIONLOCALIZATIONMAPO verview of SLAM9 Video provided separately Car running in corridor Map being generated Video will be used for explaining the overview10 Occupancy Grid Mapping11 Occupied CellFree CellUn-Explored CellMeasurement ModelOccupancy Grid Mapping Measurement : mx,y= 1 LiDAR hitmx,y= 0No occlusion12 Occupied CellFree CellUn-Explored CellMeasurement ModelOccupancy Grid Mapping Measurement : mx,y= 1 LiDAR hitmx,y= 0No occlusion13 Occupied CellFree CellUn-Explored Cell Map Cell:Z = 1 OccupiedZ = 0 UnExploredZ = -1 FreeMeasurement ModelOccupancy Gr
Simultaneous Localization & Mapping F1/10th Autonomous Racing Paril Jain. Previous Week 2 IMU and LIDAR Localization PID Control. Limitations : Basic Path Planning • High Level Path Assignments – 2nd right, 2nd right, 1 stright, 1 left, 1st right 3. Race Lines 4. Limitations : No Future Information 5.
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