Simultaneous-Localisation-and-Mapping-using-Particle-Filter

ECE 276A Course Project - 2

Description

This project performs Simultaneous Localisation and Mapping(SLAM) using Particle Filter

Code Organisation

SLAM_main.py            -- Main code which implements the workflow of SLAM, from dead reckoning to prediction to update.
SLAM_helper.py          -- Implementations of classes for Particles, Map, and Sensor Data 
p2_utils.py             -- Implementation of the Bresenham's Line Tracing Algorithm and Map Correlation Function for Particle Filter Update.
load_data.py            -- Code used to load data from the LIDAR sensor and the IMU Sensor

THOR Robot Configuration

Results

Result on 1st Dataset

Result on 2nd Dataset

Result on 3rd Dataset

Result on 4th Dataset

Result on 5th Dataset