Range-only SLAM with occupancy maps

This microsite presents an educational and easy-to-use windows program to help the reader of the paper ‘Range-only SLAM with occupancy maps; A set-membership approach, IEEE- Transactions on Robotics, Vol 27, n°5, 2011 to understand the principle of the omnidirectional range-only pose-based SLAM approach.

Download all files (builder C++ code + exe + data files).
Unzip into a folder.
Run the program dig_slam.exe.

Testcase 1 corresponds to the testcase treated in the paper submitted at IEEE TRO (the input data file is data1.txt). Download the corresponding video. The same with utube.
Testcase 2 is the second test case (the input data file is data2.txt) treated at the end of my replies
to all 4 reviews. Download the corresponding video. The same with utube.
The program generates bmp files as output.

If you want to test your own testcase, modify the file data1.txt or data2.txt.

A simulator is also made available to generate your own data.txt files. Download the simulator (exe and C++ code). Modify the files auv.txt and controllor.txt to change the AUV, the characteristics of the map and the waypoints of the trajectory.

Download a C++ QT version.

Enjoy.

Luc

Come back to http://www.ensta-bretagne.fr/jaulin/