A Showcase of GraphSLAM using the RTAB-Map package in ROS
This prject showcases a successfully implementation of robot SLAM using the GraphSLAM algorithm. A robot, custom bot, was made to autonomously map two simulation environments unknown to it and localize itself accurately in each of self-constructed maps. The project was developed using ROS. The ROS package RTAB-Map was used to implement the GraphSLAM algorithm and visualize the robot generated maps and gazebo was used to simulate the robot and its environments.
Index Terms—Simultaneous Localization and Mapping,SLAM, GraphSLAM, FastSLAM, ROS, RTAB-Map, Robotics
For the full report and implementation details check out writeup.pdf