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provide world map for ekf global localization problem

I am trying to implement the ekf_localization algorithm in page 217 (Table 7.3) of the probabilistic robotics book by Thrun. From my previous post, I understand that I need to extract observed ...
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1answer
41 views

EKF localization data association

I am working with ROS indigo and clearpath huskyA200 and wanted to implement the EKF localization with unknown correspondences with my own hokuyo lidar data for a school project. Giving the algorithm ...
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4answers
91 views

Do robots usually have databases?

I am a junior web developer working mainly with Bash, Javascript, and Drupal. I'm more fascinated writing scripts and programs that do certain concrete actions instead of querying and manipulating ...
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1answer
1k views

Pose-Graph-SLAM: How to create edges if only IMU-odometry is given?

I want to estimate the poses of a vehicle at certain key frames. The only sensor information I can use is from an IMU which yields translational acceleration and orientation measurments. I obtain a 7D ...
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1answer
923 views

joint compatibility branch and bound (JCBB) data association implementation

I would like to implement the joint compatibility branch and bound technique in this link as a method to carry out data association. I've read the paper but still confused about this function $f_{H_{i}...
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1answer
262 views

Data association with ekf?

Given part of the following algorithm in page 217 probabilistic robotics, this algorithm for EKF localization with unknown correspondences 9. for all observed features $z^{i} = [r^{i} \ \phi^{2} \ ...