Introduction

This project implements an Extended Kalman Filter based SLAM (Simulateneous Localization and Mapping) for the Victoria park dataset.

• The dataset consists of Odometry measurements, GPS and 2D Lidar Scans.

Refer the handout for more details.

Results

key

• The vehicle is shown as a triangle
• The rays represent lidar measurements
• The green cross represents tree landmarks
• The blue elipse represents their covariance

Execution

python slam.py