Gmapping SLAM based on RBPF

Question

1 个投票

Is there any Gmapping SLAM based on RBPF?

I mean MATLAB version of gmapping-SLAM based on Rao-blackwellized particle filtering.

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Hello John,

I have a same question. MATLAB has a library but I think it used graph SLAM.

sofar I find this: https://github.com/Allopart/rbpf-gmapping by Adrian Llopart Maurin, PhD student at the technical University of Denmark (DTU), 2016.

I'm not tested it yet. but i'm going to.

Thank you

Iman

John Lee 2020-3-15

Thanks for your comment.

I tested that code. Seems wokring well, but there is a too big approximation in "Measurement_Model.m" where

the author treis to compute the likelihood function based on more than 200 lidar scan.

I also tried to contact the author, and he has not replied.

So, I doubt the code and that is why I posted the question.

Answer 1

Amrtanshu Raj 2021-9-7

2 个投票

Hi,

Currently MATLAB has a LidarSlam which does not use any particle filter.

We have brought this to the notice of our developers and they might consider it for a future release.

Hi Raj,

Could you mention the official URL of it (LiDARSLAM) , for seeing the theoritcal side of it (related papers)