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Atsushi Sakai
2018-03-15 13:28:36 -07:00
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@@ -18,6 +18,7 @@ Python codes for robotics algorithm.
* [SLAM](#slam)
* [Iterative Closest Point (ICP) Matching](#iterative-closest-point-icp-matching)
* [EKF SLAM](#ekf-slam)
* [FastSLAM 1.0](#fastslam-10)
* [Path Planning](#path-planning)
* [Dynamic Window Approach](#dynamic-window-approach)
* [Grid based search](#grid-based-search)
@@ -168,15 +169,15 @@ Ref:
- [PROBABILISTIC ROBOTICS](http://www.probabilistic-robotics.org/)
## Fast SLAM 1.0
## FastSLAM 1.0
This is a feature based SLAM example using FastSLAM 1.0.
The blue line is ground truth, the black line is dead reckoning, the red line is the estimated trajectory with FastSLAM1.0.
The blue line is ground truth, the black line is dead reckoning, the red line is the estimated trajectory with FastSLAM 1.0.
The red points are particles of FastSLAM.
Black points are landmarks, Blue crosses are estimated landmark positions by FastSLAM.
Black points are landmarks, blue crosses are estimated landmark positions by FastSLAM.
![3](https://github.com/AtsushiSakai/PythonRobotics/raw/master/SLAM/FastSLAM1/animation.gif)
@@ -573,3 +574,4 @@ Atsushi Sakai ([@Atsushi_twi](https://twitter.com/Atsushi_twi))