This video shows the map building (SLAM, with laser scans) of a large scenario under a new hybrid metric-topological approach to SLAM (HMT-SLAM). The space is partitioned into areas ("spheres" in the video) and hypotheses for the topology are computed in a probabilistic Bayesian filter.
The data was gathered by a mobile robot along a ~2Km path in the "ETSI Telecomunicacion" of our Campus in the University of Malaga (Spain). At the end of the video a satellite photo is overlapped to the built map to highlight its resemblance to the actual buildings.
The raw dataset, full-resolution videos, and papers at available online at:
http://www.isa.uma.es/C10/Temas-Topics/default.aspx
http://www.isa.uma.es/jlblanco
Nice. So you've taken a complex map and made an effective simple one with it.
liOVERLOADil 1 year ago
Nice work
JRproducts 4 years ago
Cool!
chihhaochao 4 years ago