Reinventing SLAM

Trying to reinvent the wheel for a while opens your insight as a tire maker! (Quote by myself!)

Hmmm … I am trying to reinvent robot’s map building method before really reading the detailed stuff. Right now, I am reinventing the Hans Moravec’s Evidence Grid. It is working and I know (don’t ask me from where because I must say that I took a small look to formulas of a few papers (; ) that it is not exactly the same.
I consider the belief of occupancy as P(occupy) (so, 0=Sebastian Thrun’s. I am interested to see the exact formulation of his usage of particle filters.

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