SLAM & Navigation
Construct maps of unknown environments while simultaneously keeping track of the robot's location within them.
Core Topics
Simultaneous Localization and MappingGraph SLAMIterative Closest Point (ICP)Loop ClosureOccupancy Grids
Key Takeaways
- Formulate graph-based SLAM problems
- Extract and match spatial features across lidar scans
- Perform loop closure to correct odometry drift
- Generate occupancy grid maps for navigation