Rao-Blackwellized Particle Smoothing for Occupancy-Grid Based SLAM Using Low-Cost Sensors

摘要

We approach the simultaneous localization and mapping problem by using an ultrasound sensor and wheel encoders on a mobile robot. The measurements are modeled to yield a conditionally linear model for all the map states. Moreover, we implement a Rao-Blackwellized particle smoother (RBPS) for jointly estimating the position of the robot and the map. The method is applied and successfully verified by experiments on a small Lego robot where ground truth was obtained by the use of a VICON real-time positioning system. The results show that the RBPS contributes with more robust estimates at the cost of computational complexity and memory usage.