Gmapping SLAM based on RBPF

18 views (last 30 days)
John Lee
John Lee on 5 Mar 2020
Is there any Gmapping SLAM based on RBPF?
I mean MATLAB version of gmapping-SLAM based on Rao-blackwellized particle filtering.
  2 Comments
John Lee
John Lee on 15 Mar 2020
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.

Sign in to comment.

Answers (1)

Amrtanshu Raj
Amrtanshu Raj on 7 Sep 2021
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 Comment
Zuhair Abduljabbar
Zuhair Abduljabbar on 15 Mar 2022
Hi Raj,
Could you mention the official URL of it (LiDARSLAM) , for seeing the theoritcal side of it (related papers)

Sign in to comment.

Categories

Find more on Graphics Performance in Help Center and File Exchange

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!