Rao-Blackwellized Particle Filters and Loop Closing
IROS'05 Tutorial
Cyrill Stachniss and Wolfram Burgard
IROS'05 Tutorial
Cyrill Stachniss and Wolfram Burgard
| Slides (pdf, 1MB) |
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| Related Papers | Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters. Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard Transactions on Robotics, Volume 23, pages 34-46, 2007 paper (12 pg, pdf) Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling. Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2005. Get the paper (pdf, 500kb) Information Gain-based Exploration Using Rao-Blackwellized Particle Filters. Cyrill Stachniss, Giorgio Grisetti, and Wolfram Burgard In Proc. of the Robotics: Science and Systems (RSS), 2005. Get the paper (pdf, 520kb) |
| Video material |     |
| Datasets | Datasets are available here. |
| Implementation | See the "GMapping" project at www.openslam.org |