Low cost mapping and localization using iRobot Educational Package

This is a video of localizing an iRobot using simple particle filter and computational geometry. The robot first computes a boundary map by a full traversal, then localizes itself in the map using particle filter. For easy marking, the computed track of the robot is shown in green (extracted from robot sensors), while the particles are shown in red. Ofcourse the robot may not exactly give the correct coordinates due to sensor errors, that's why the particles are distributed over a small region even when the robot is localized.

Category:

Science & Technology

Tags:

• Localization
• Mapping
• Tracking
• iRobot
• Roomba