Teaching amcl and slam

In trying to explain these important concepts and algorithms it would be super useful to have a video or animation that illustrates through simulation the underlying math. All the videos and articles I can find either are purely conceptual and really simplified (i.e. == magic) or they go deep on the math and go over the heads of most of my students.

Does anyone know of a resource (at the level of a https://www.3blue1brown.com/ to teach AMCL and/or SLAM?

Thanks!

Asked by pitosalas on 2019-10-21 09:21:19 UTC

Comments

We'll keep this open for a while, but tbh this only seems tangentially related to ROS. Yes, AMCL is used by a package many of us use (amcl), but that does not make this post on-topic, as the topic is not connected to the ROS implementation of AMCL, but is a generic question.

Asked by gvdhoorn on 2019-10-21 10:04:03 UTC

where do you suggest I post it? discourse.ros.org? stackoverflow? Reddit?

Asked by pitosalas on 2019-10-21 10:16:38 UTC

There is a robotics.stackexchange.com. Perhaps that would be a better venue. Reddit might also be a good one.

As there is no single good answer here, ROS Discourse may be appropriate.

Asked by gvdhoorn on 2019-10-21 10:28:50 UTC

I'd say leave this one here since I think its a good question and relevant to a similar user base as frequents ROS answers, even if not strictly following best guidelines.

Asked by stevemacenski on 2019-10-21 12:26:34 UTC

Answers

So, on an end-to-end simplified explanation, I don't know of much, but I've also compiled resources for similar explanations and created a few of my own.

Here's a list of links I find useful beginner primers.

Particle Filter: https://www.youtube.com/watch?v=aUkBa1zMKv4

Kalman Filter: https://simondlevy.academic.wlu.edu/kalman-tutorial/

Graph SLAM: https://docs.google.com/presentation/d/1S9aWpgOkojcgA691gmt-359m9RtjTR2Yhm9Zmjh5Yjg/edit?usp=sharing slides 5 and 6.

Obviously Probabilistic Robotics

To get the high level view, after that you need to dive into the notation/math to really get anywhere but those should give a visual intuition behind the filtering or structural elements to build upon.

Asked by stevemacenski on 2019-10-21 12:37:04 UTC

Comments

Thanks. Unfortunately the Kalman Filter animation doesn't seem to work for me.

Asked by pitosalas on 2019-10-24 13:46:28 UTC

That's a shame :( That's actually a really good demo building on top of basics until you get a filter

Asked by stevemacenski on 2019-10-24 15:13:23 UTC