Particle filter

If you travel to a new place like Tokyo, the first thing you have to do is to find yourself on the map before going ...


In the last post, I introduced robot localization algorithm, Particle filter. In a known environment, robot can iteratively locate itself by receiving sensor inputs. However, ...

FastSLAM 2.0

In FastSLAM 1.0, we have a 2-step estimation process for the SLAM posterior,