For a differential drive robot with noisy lidar and control, we use Extended Kalman Filter to perform simultaneous localization and mapping (SLAM). Notably we use Douglas–Peucker algorithm to refine landmarks used for SLAM state.
For a differential drive robot with noisy lidar and control, we use Extended Kalman Filter to perform simultaneous localization and mapping (SLAM). Notably we use Douglas–Peucker algorithm to refine landmarks used for SLAM state.