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gmapping algorithm

asked 2016-02-21 06:25:22 -0600

niel gravatar image

hi all, I would like to know the algorithms used in gmapping and depthimage_to_laserscan.someoone please help.

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answered 2016-02-21 07:18:42 -0600

Akif gravatar image

For gmapping , you can check ,

Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard: Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters, IEEE Transactions on Robotics, Volume 23, pages 34-46, 2007 (link)


Giorgio Grisetti, Cyrill Stachniss, and Wolfram Burgard: Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling, In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2005 (link)

For depthimage_to_laserscan you can visit its wiki and check the source code.

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Asked: 2016-02-21 06:25:22 -0600

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Last updated: Feb 21 '16