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Chapter 6: Efficient Techniques for Rao-Blackwellized Mapping

This page depicts the results of our mapping algorithm that applies a Rao-Blackwellized particle filter to learn grid maps.
All data files on this page have been processed by our mapping system, the resulting maps are depicted below. Some data files are available on Radish, others are self-recorded and again others have been provided to us. Thanks to all the people, who contributed to this work by publishing log-files.

If anyone wants to use a log-file provided on this page, feel free to do so, but please take care that the correct person gets acknowledged!



Videos Material:



Map Image (click to enlarge) Name Logfile(s)
FR-Campus
(size:~250x250m,
path: ~1.750km)
see: readme.txt 		raw log data provided by:
Cyrill Stachniss
and Giorgio Grisetti
raw-log (carmen)
corrected-log (carmen)
RBPF-log (gfs)
Intel-Lab raw log data provided by:
Dirk Haehnel
raw-log (carmen)
corrected-log (carmen)
RBPF-log (gfs)
Univ. of Washington
(Sieg-Hall, 4th floor) 		raw log data provided by:
Dirk Haehnel
corrected-log (carmen)
RBPF-log (gfs)
MIT Kilian Court raw log data provided by:
John Leonard
and Mike Bosse
corrected-log (carmen)
raw-log (carmen)
Univ. of Orebro raw log data provided by:
Henrik Andreasson,
Per Larsson
and Tom Duckett
raw-log (carmen)
corrected-log (carmen)
RBPF-log (gfs)
Belgioioso raw log data provided by:
Dirk Haehnel
raw-log (carmen)
corrected-log (carmen)
FHW

(The museum was
pretty crowded...)		 raw log data provided by:
Dirk Haehnel
raw-log (carmen)
corrected-log (carmen)
RBPF-log (gfs)
Austin-Aces3-Log raw log data provided by:
Patrick Beeson
raw-log (@Radish)
corrected-log (carmen)
RBPF-log (gfs)
Edmonton raw log data provided by:
Nick Roy
raw-log (@Radish)
corrected-log (carmen)
RBPF-log (gfs)
FR079 raw log data provided by:
Cyrill Stachniss
raw-log (carmen)
corrected-log (carmen)
RBPF-log (gfs)
FR101 raw log data provided by:
Cyrill Stachniss
raw-log (carmen)
corrected-log (carmen)
RBPF-log (gfs)
Acapulco Convention
Center (Mexico) 		raw log data provided by:
Nick Roy
raw-log (@Radish)
corrected-log (carmen)
RBPF-log (gfs)