sakshamjindal/particle-filter-slam

Implementation of Particle Filter SLAM for a differential drive robot

Particle Filter SLAM

Command

To run the SLAM algorithm

python pfs.py

For texture mapping, refer to texture.ipynb

Code structure

  main-repository/
  │
  ├── pfs.py - runs the particle SLAM algorithm
  ├── texture.ipynb - implementation of texture mapping
  ├── experiments.py - extension of pfs.py and run the experiments over hyperparameter
  │
  ├── data - contains data 
  │
  └── core -
     ├── dataloaders: contains dataloading modules
     ├── robot.py: contains the functions for predict and update step for the slam
     ├── map.py: contains the functions for building and maintaining map
     ├── points.py: contains developed utilies for handling points
     ├── model.py: contains the implmentation of motion model
     ├── params.py: contains robot sensor and map parameters
     └── pr2_utils.py: contains some common utils used in the project