Planar robotic mapping

In this project I implemented a particle filter to construct a planar map of the path of a robot. The robot was fitted with a Hokuyo LIDAR, IMU, wheel encoders, and a Kinect sensor. All this data (except Kinect data) was used to construct the 3D map.

![simple map] (simple_map.jpg) (Above) A map constructed without the SLAM algorithm.

![slam1] (slam_map1.jpg)

![slam2] (slam_map2.jpg)

![slam3] (slam_map3.jpg)

(Above) Maps of different paths constructed using the SLAM algorithm.

After the map was constructed, RANSAC was used to extract the ground plane from Kinect disparity data and the ground plane pixels were overlaid on the SLAM planar map:

![kinect_slam] (kinect_slam.jpg)