Riisgaard SLAM for dummies

Authors:  Søren Riisgaard and Morten Rufus Blas Parent: SLAM resources

Abstract:

• Tutorial introduction to SLAM, with minimal prerequisites for the understanding of SLAM as explained here
• Mostly explains a single approach to the steps involved in SLAM
• Complete solution for SLAM using EKF (extended Kalman filter)
• Only considers 2D motion, not 3D

Chapters

3. What is SLAM?
4. Overview of SLAM using EKF
5. Hardware
   • Robot
   • Range measurement device
6. SLAM process
   1. Step 1: Odometry update
   2. Step 2: Reobservation
   3. Step 3: Add new landmarks
7. Laser data
8. Odometry data
9. Landmarks
10. Landmark extraction 1. Spike algorithm 2. RANSAC
11. Data association
12. EKF 1. EKF matrices 2. Prediction model 3. Measurement model 4. SLAM-specific Jacobians 5. Process noise 6. Measurement noise
13. Final remarks

Questions

• Under which classification does the algo. used here fall?
  • multikind sensor
  • filter-based, feature-based