Introduction

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SLAM using non-linear EKF.

We will look at three distinct levels of the estimation problem, covering a spectrum of different types of estimation tasks encountered within our project domain.

SLAM: Simultaneous Localization and Mapping

Task - Concurrent localization of mobile robot and mapping locations of other static nodes within the environment. The Inside-Out Problem.

SLAT: Simultaneous Localization and Tracking

Task - Localization of all nodes in the environment and passive tracking of uncontrolled mobile targets. The Outside-In Problem.

SPLAT: Simultaneous Planning, Localization and Tracking

Task - Localization of all nodes in the environment and active tracking of uncontrolled mobile targets - actively plan to minimize estimate uncertainty of the full system. The Outside-In Problem with active planning of controllable agents.

Est. Schemes SLAM SLAT SPLAT
T-House
NSH 3rd Floor
Museum
Performance Results of each Estimation Tier on each Environment