JiayangZhou-99 / Particle-Filter-SLAM

This project uses particle filter for SLAM. In this project,I use the lidar data, odometer, 2d laser scanning, and stereo measurements from vehicle to reconstruct the path of vehicle and the scenario of the environment.

Data

– 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

Requirement

opencv-python == 4.2.0.34

matplotlib >= 2.2

numpy

pandas

scipy

scikit-image >= 0.14.0

Particle-Filter-SLAM

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:

Technical Approach

The techinical approach and methmetical formulation are all contained in the Particle_filter_SLAM.pdf

Result

Paiticle Filter:

Texture Mapping: