SLAM

FastSLAM

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,

Kalman Filter

Kalman Filter is a widely used data processing algorithm. It was originally invented by Kalman and used for spaceship navigation in NASA. It is now ...