2D based Indoor SLAM and Autonomous Navigation using a Terrain ROBOT
Code base for Starline competition
Least Squares optimization of a 2D -Range Only- SLAM problem.
Mini SLAM ( Simultaneous Localization and Mapping )
A Robot Simuation using Gazebo of a custom Home Robot that maps its environment using rtapmap to produce a 2d and 3d maps.
Developed and implemented 2D and 3D Pose Graph SLAM using the GTSAM library and Gauss Newton Solver on the Intel and Parking Garage g2o datasets respectively
Mapping a 500 m² Indoor Environment Using SlamToolbox and TurtleBot: 2D SLAM, SLAM parameter tuning
This is a comprehensive project focused on implementing popular algorithms for state estimation, robot localization, 2D mapping, and 2D & 3D SLAM. It utilizes various types of filters, including the Kalman Filter, Extended Kalman Filter, Unscented Kalman Filter, and Particle Filter.
Stitching and fusion of 4 pairs of on-board surround view fisheye simulation image sequences, odometer estimation and output of large pixel maps.
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