Project on Simultaneous Localization and Mapping (SLAM) which implements Extended Kalman Filter (EKF) SLAM and FastSLAM (Particle based). This is based on the SLAM course by Claus Brenner which uses a LEGO robot in a 2000mm X 2000mm arena with 6 landmarks which serve as map features. The robot is equipped with a LIDAR sensor to generate scan data.
- Python 3
- Tkinter
- Numpy
Run the files for EKF SLAM and FastSLAM in Python. EKF SLAM:
$ python EKF_SLAM.py
FastSLAM:
$ python FastSLAM.py
These generate the output files ekf_slam_output.txt and fast_slam_output.txt which can be viewed in the logfile viewer
$ python logfile_viewer.py