- What is SLAM (Simultaneous Localization And Mapping)?
- The use cases of SLAM?
- How does it work?
- ARVR and SLAM?
- AI and data science
- Hardware and sensors
12. SLAM problem definition
12
SLAM is a process by which a mobile
device can build a map of an
environment and at the same time
use this map to deduce it’s location.
In SLAM both the trajectory of the
platform and the location of all
landmarks are estimated real time
without the need for any a prior
knowledge of location.
13. SLAM approaches
● EKF (Extended Kalman Filter) SLAM
● FastSLAM
● L-SLAM (Matlab code)
● GraphSLAM
● Parallel Tracking and Mapping
(PTAM)
● MonoSLAM
● CoSLAM
● SeqSlam
● iSAM (Incremental Smoothing and
Mapping)
● CT-SLAM (Continuous Time)
From mid eighties to now, a variety of approaches are there, solving it to a certain approximation
13
Open Source
● LSD-SLAM
● S-PTAM
● ORB-SLAM
● Google Cartographer
www.openslam.org
14. A deep dive one approach
Basic Functional EKF-SLAM Pseudo Code
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%INITIALIZATION
initialize_map()
While (execution() == true) do
control = acquire control signal()
move device(control)
% LOOP SENSORS IN DEVICE
for each sensor in device−>list of sensors
raw = sensor−>acquire raw data()
% LOOP OBSERVATIONS IN EACH SENSOR
for each observation in sensor−>feasible observations()
% MEASURE LANDMARK AND CORRECT MAP
measurement = find known feature(raw, observation)
update map(sensor, landmark, observation, measurement)
end
% DISCOVER NEW LANDMARKS WITH THE CURRENT SENSOR
measurement = detect new feature(raw)
% INITIALIZE LANDMARK
landmark = init new landmark(robot, sensor, measurement)
create new observation(sensor, landmark)
end
end
30 Sec
SLAM is about - knowing your surrounding and mapping it.
“What do see around you”?
Door, Wall, Floor, Stage, People around you.
Sense of depth
Who is front of other
Map of the area
30 Sec
Next key thing in SLAM is Localization - Know your location in the map you have created in earlier
You are in between these
I am on stage
I am seating at x seat
etc
30 Sec
Now doing all together
Move around the room
Map and localize
Move again map and localize
What is SLAM aware applications or systems?
Where you have access to location and this map. -
1Min
Another way to explain SLAM is a system which crawl and learn. - a search engine. Eg. When you reach home, you place your car keys/or belongings at key tray, and next day I ask my mind where is car key, I got the answer.
Essentially, so we are talking about building eye which helps record data and the processing unit and search engine, your mind.
Handing to Raju to discuss some techniques and solutions of SLAM.
https://en.wikipedia.org/wiki/List_of_SLAM_Methods
