2D Occupency Grid SLAM

Introduction

A simple python implement of Grid-based Rao-Blackwellized particle filter(RBPF) SLAM.
Run the code: python test.py

(Left is the environment; Right top is the ground truth map; Right down is the map build by SLAM algorithm.)

Name		Name	Last commit message	Last commit date
Latest commit History 26 Commits
__pycache__		__pycache__
.gitignore		.gitignore
GridMap.py		GridMap.py
LICENSE		LICENSE
ParticleFilter.py		ParticleFilter.py
README.md		README.md
SingleBotLaser2D.py		SingleBotLaser2D.py
demo.PNG		demo.PNG
map.png		map.png
map_large.png		map_large.png
test.py		test.py
utils.py		utils.py