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SLAM for Dummies: A Tutorial Approach to Simultaneous Localization and Mapping

Authors

Soren Riisgaard, Morten Rufus Blas

Year

2004

Technical Report

Source

MIT OpenCourseWare, Cognitive Robotics

Abstract¶

Summary¶

A practical tutorial for implementing two-dimensional EKF-SLAM on an indoor mobile robot using laser range measurements and wheel odometry. It explains landmark extraction with spikes and RANSAC, data association, state and covariance updates, and adding new landmarks, with C# hardware-interface and landmark-extraction code.

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External

Document Google Scholar OpenAlex dspace.mit.edu PDF ocw.mit.edu

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