Particle Filter SLAM Save
SLAM with occupancy grid and particle filter, using lidar, joints, IMU and odometry data from THOR humanoid robot
Project README
Upenn ESE650 Learning in Robotics, Project 4
- Put lidar and joint data .m file into folder .\train\data
- Modify data_idx and dir in SLAM.py
- Run SLAM.py, the tunning on map and particles can be done in init_SLAM()
- a sequence of map plot will be shown, the last plot will be saved
occupied grid is in black, free grid is in white, undetermined is in gray, robot trajectory in blue and lidar scan of the best particle in green
Open Source Agenda is not affiliated with "Particle Filter SLAM" Project. README Source: MaxLing/particle_filter_SLAM
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