Archive for progress

October 16, 2008 – 1st Semester Final Demo CVMIG

{ November 23, 2008 @ 5:23 pm } · { presentation, progress }
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Deliverables for the first semester:

  • EKF SLAM Simulation
  • FastSLAM Simulation
  • EKF SLAM Implementation

Based on results, FastSLAM is better at Data Association compared to EKF SLAM. FastSLAM gave more detailed maps because it was able to map smaller obstacles which EKF SLAM was not able to map. Moreover, FastSLAM was also able to give better results within less amount of time.

The EKF SLAM Hardware Implementation was not possible due to MOBOT Lab’s Schedule. So, we were instead asked to simulate EKF SLAM using Real-world data. We got our real-world data from openslam.org. It was the map of an entire floor. We were not able to finish our EKF SLAM implementation completely by October 16, 2008. The simulation was only able to generate a portion of the map and it took a long time before that portion of the map appeared. So, we were given one more week to finish the EKF SLAM implementation. Initially, our simulation ran for two hours, but Carl was able to shorten that into 10-15 minutes without changing the quality of the output.

Progress:

  • EKF SLAM Simulation
  • EKF SLAM Simulation with real world data
  • FastSLAM Simulation

September 1, 2008 Presentation

{ November 23, 2008 @ 4:42 pm } · { presentation, progress }
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For this presentation, we were to report our progress thus far.

On the noise model issue from the previous presentation, we were told by Sir Mong that we have two options. We can use either a Linear noise model or a Gaussian noise model. The Gaussian Noise Model is more accurate but more difficult to implement and this is the noise model usually used based on our review of related literature.

For both our simulations and implementations, we will be having 3x3m environments. We have prepared 4 environments. The robot that will be used for the simulations is the Lego Mindstorms NXT robot. It will be equipped with a laser range finder modelled as a sonar with 1-meter range.

Progress: EKF SLAM Simulation

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