LaserSLAM

SLAM using 2D lidar

Video(better watching in 1080p): https://v.qq.com/x/page/q0363h0i1ej.html

Usage

1. Run the main.m
   
2. If you'd like to test the loop closure detection(only detection, no pose graph optimization yet) functionality, dequote the 'Loop Closing' codes in the main.m
   

To Do

1. Register the laser points in a probability-grid-map, it will help improve the scan-matching performance.[1]
   
2. Tightly couple the Laser and IMU to improve robustness and efficiency.
   
3. Estimate relative pose between two consecutive keyscans, estimate the relative pose's covariance following the approach in [1]
   
4. Use pose graph optimization to close loops.
   
5. Use branch and bound method to speed up brute force scan matching.
   Though it's not so accurate or robust yet, I believe it can have high performance after finishing the tasks in the ToDo list.

References

[1]W.Hess, D.Kohler, H.Rapp and D.Andor. Real-Time Loop Closure in 2D LIDAR SLAM. ICRA, 2016