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Teaching amcl and slam

asked 2019-10-21 09:21:19 -0600

pitosalas gravatar image

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 to teach AMCL and/or SLAM?


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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.

gvdhoorn gravatar image gvdhoorn  ( 2019-10-21 10:04:03 -0600 )edit

where do you suggest I post it? stackoverflow? Reddit?

pitosalas gravatar image pitosalas  ( 2019-10-21 10:16:38 -0600 )edit

There is a 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.

gvdhoorn gravatar image gvdhoorn  ( 2019-10-21 10:28:50 -0600 )edit

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.

stevemacenski gravatar image stevemacenski  ( 2019-10-21 12:26:34 -0600 )edit

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answered 2019-10-21 12:37:04 -0600

updated 2019-10-21 12:38:06 -0600

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:

Kalman Filter:

Graph SLAM: 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.

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

pitosalas gravatar image pitosalas  ( 2019-10-24 13:46:28 -0600 )edit

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

stevemacenski gravatar image stevemacenski  ( 2019-10-24 15:13:23 -0600 )edit

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Asked: 2019-10-21 09:21:19 -0600

Seen: 55 times

Last updated: Oct 21 '19