Gmapping SLAM based on RBPF

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John Lee
John Lee 2020-3-5
评论： Zuhair Abduljabbar 2022-3-15
Is there any Gmapping SLAM based on RBPF?
I mean MATLAB version of gmapping-SLAM based on Rao-blackwellized particle filtering.
  2 个评论
iman yazdansepas
iman yazdansepas 2020-3-15
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
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.

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回答（1 个）

Amrtanshu Raj
Amrtanshu Raj 2021-9-7
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.
  1 个评论
Zuhair Abduljabbar
Zuhair Abduljabbar 2022-3-15
Hi Raj,
Could you mention the official URL of it (LiDARSLAM) , for seeing the theoritcal side of it (related papers)

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