Particle Filter SLAM

Used Particle Filter to perform SLAM for a differential drive wheeled robot

• The data for the robot came from the sensors mounted on it, including a Hokuyo UTM-30LX LiDAR sensor and a Kinect RGB-D camera

• The robot’s trajectory (2D pose and angular orientation at each time stamp) and the static map in the form of a 2D occupancy grid were estimated using the particle filter algorithm

• RGB values from the camera were used to produce a 2D color/texture map of the floor surface based on the occupancy grid map generated previously

You can find the project report here [Link]

Visualization of trajectory and occupany map generation