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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 ..14 7. ODOMETRY DATA ..15 8. LANDMARKS ..16 9. LANDMARK EXTRACTION ..19 SPIKE LANDM MULTIPLE 10. DATA ASSOCIATION ..25 11. THE EKF ..28 OVERVIEW OF THE THE The system state: X ..29 The covariance matrix: The Kalman gain: The Jacobian of the measurement model: H ..31 The Jacobian of the prediction model: A ..33 The slam specific Jacobians: Jxr and The process noise: Q and The measurement noise: R and V ..35 STEP 1: UPDATE CURRENT STATE USING THE ODOMETRY STEP 2: UPDATE STATE FROM RE-OBSERVED STEP 3: ADD NEW LANDMARKS TO THE CURRENT 12. FINAL REMARKS ..41 3 13. REFERENCES: ..42 14. APPENDIX A: COORDINATE CONVERSION.

4 2. Introduction The goal of this document is to give a tutorial introduction to the field of SLAM (Simultaneous Localization And Mapping) for mobile robots.

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