– param.zip: https://drive.google.com/file/d/1alGT4ZJcNKCLLLW-DIbt50p8ZBFrUyFZ/view? usp=sharing
– sensor data.zip: https://drive.google.com/file/d/1s82AV_TACqqgCJaE6B561LL1rgWmewey/ view?usp=sharing
– stereo images.zip: https://drive.google.com/file/d/1kJHOm9-1Zz13rUBg46D3RS1TOeXZEhQS/ view?usp=sharing
opencv-python == 4.2.0.34
matplotlib >= 2.2
numpy
pandas
scipy
scikit-image >= 0.14.0
This project uses particle filter to do SLAM. In this project,use the lidar data, odometer, 2d laser scanning, and stereo measurements from a vehicle to reconstruct the path of the vehicle and the scenario of the environment.
Struture of the vehicle:
The techinical approach and methmetical formulation are all contained in the Particle_filter_SLAM.pdf
Paiticle Filter:
Texture Mapping:
