Rao-Blackwellized particle filters have been used as an effective means to solve the simultaneous localization and mapping problem. This approach uses a particle filter in which each particle carries an individual map of the environment. Methodology:

The map built in the process of SLAM is an occupancy grid. Each cell in the occupancy grid can have either of three different values: · 1 denoting that we received concrete laser heads i.e. …

ORB-SLAM is based on the ORB descriptor which is invariant to large view point and rotational changes. The back-end based on bundle adjustment (BA) with monocular and stereo observations allows for accurate trajectory estimation with metric scale. Characteristics of ORB SLAM: 1. It computes the camera trajectory and build a…

RTAB-MAP (Real-Time Appearance-Based Mapping) is a graph-based SLAM approach using RGBD cameras, stereo cameras, or a 3D Lidar. It is based on an incremental appearance-based loop closure detector. The process uses a bag-of-words method to determine whether each newly acquired frame of image (or Lidar scan) came from a previous…

The A* algorithm is a common and straightforward optimization of breadth-first (Dijkstra’s) and depth-first searches. The Jump Point Search algorithm, introduced by Daniel Harabor and Alban Grastien, is one such way of making pathfinding on a rectangular grid more efficient. Expanding Intelligently The A* algorithm expands its search by doing…

Visual Simultaneous Localization and Mapping (VSLAM) using multirotor Unmanned Aerial Vehicles (UAV) in an unknown environment have grown in popularity for both research and education. …

Bundle adjustment is a joint state estimation technique to estimate the pose of 3D coordinate points describing the scene geometry, through a set of images taken from multiple perspective views while simultaneously estimating the position of cameras when the images were taken. It is performed to estimate the 6DOF camera…

For measurement model used in SLAM, the most commonly used vision based sensors are 3D/Depth camera which provides 3D data in the form of point cloud data. They are mainly of two types: 1. Stereo-Camera: One kind of 3D-Camera, consists (in most cases) of two gray-scale Cameras. 2. RGBD-Camera: A…

Euclidean Signed Distance Field (ESDF) & Truncated Signed Distance Field (TSDF), are increasingly being used for collision checking and collision costs in planning especially for visual SLAM. Euclidean Signed Distance Fields (ESDFs) have long been used in planning literature for collision checking (especially of complex shapes), inferring distances and gradients…