M30.3 CONNECT THE MECHANISM
Estimate where the robot is while learning the map
Tidy drives one lap of the kitchen and its wheels swear it's home, yet it's 0.17 ft off. See how robots catch their own drift and build a map at the same time.
LESSON OVERVIEW14 min lesson
Lesson overview
Tidy drives one lap of the kitchen and its wheels swear it's home, yet it's 0.17 ft off. See how robots catch their own drift and build a map at the same time.
What you’ll explore
- Compute odometry drift, explain how a Kalman or particle filter corrects a pose with landmarks, update an occupancy grid, and explain how loop closure in SLAM spreads accumulated error, and how a false closure breaks the map.
GO TO THE SOURCE
Original explanations, connected to the research.
Modern Robotics — authors’ textbook and resourcesPast, Present, and Future of Simultaneous Localization and Mapping (Cadena et al., 2016)Monte Carlo Localization for Mobile Robots (Dellaert, Fox, Burgard & Thrun, ICRA 1999)Suggest a correction
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