Thursday, September 10, 2009

MRPT : Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).

The MRPT project: mrpt::slam::CMetricMapBuilderRBPF Class Reference:

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"mrpt::slam::CMetricMapBuilderRBPF Class Reference
#include <mrpt/slam/CMetricMapBuilderRBPF.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderRBPF:

List of all members.
Detailed Description
This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM).

Internally, the list of particles, each containing a hypothesis for the robot path plus its associated metric map, is stored in an object of class CMultiMetricMapPDF.

This class processes robot actions and observations sequentially (through the method CMetricMapBuilderRBPF::processActionObservation) and exploits the generic design of metric map classes in MRPT to deal with any number and combination of maps simultaneously: the likelihood of observations is the product of the likelihood in the different maps, etc.

A number of particle filter methods are implemented as well, by selecting the appropriate values in TConstructionOptions::PF_options. Not all the PF algorithms are implemented for all kinds of maps.

For an example of usage, check the application 'rbpf-slam', in 'apps/RBPF-SLAM'. See also the wiki page.

Note:
Since MRPT 0.7.1 the semantics of the parameters 'insertionLinDistance' and 'insertionAngDistance' changes: the entire RBFP is now NOT updated unless odometry increments surpass the threshold (previously, only the map was NOT updated). This is done to gain efficiency.

Since MRPT 0.6.2 this class implements full 6D SLAM. Previous versions worked in 2D + heading only.

See also:
CMetricMap

Definition at line 62 of file CMetricMapBuilderRBPF.h."

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