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SLAM Project Map My World

This project demonstrates the application of the SLAM RTAB-MAP algorithm in a simulated Gazebo environment.

Full Project Writeup

Writeup PDF

Video of the mapping process:

https://www.youtube.com/watch?v=aYmwZE76j70

Resulting 3D Map:

3DMap

Abstract

Most mobile robot have the basic requirement to localize themselves in a given map. In reality however, an environment is often unknown or changes unexpectedly. Therefore, the ability to map an environment from scratch and localize the robot at the same time (SLAM) opens up a wide range of new applications. The goal of this project is to gain experience in using a SLAM algorithm called RTAB-MAP while identifying important influences on the quality of the mapping results.

Results

Map Overview:

Overview

3D Result:

3DMap1

Error in Loop Closure:

3DMap

2D Occupancy Grid:

3DMap

RTAB-MAP Feature Detection:

3DMap

About

SLAM Project (Udacity Robotics Nanodegree)

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