Localization and Mapping

Before getting started, make sure that you have installed the requirements listed on the main page.

In order to run the scripts, please follow the respective instructions.

Change to the Correct Directory (Demo 0)

cd robotics-workshop   # Change directory to the cloned repository
pipenv shell   # Activate robotics-workshop virtual environment
cd localization_and_mapping/scripts/ # Change directory to the location of the scripts

LiDAR Point Cloud (Demo 1)

Running the following script pops up a graphical window showing a demo for LiDAR point cloud mapping:

python lidar_point_cloud.py

Occupancy Grid Mapping (Demo 2)

Running the following script pops up a graphical window showing a demo for occupancy grid mapping via the log-odds method:

python log_odds_mapping.py

Dead-reckoning (Demo 3)

Running the following script pops up a graphical window showing a demo for robot localization using only motion sensors. This method is called Dead-reckoning:

python dead_reckoning.py

Particle Filter Localization (Demo 4)

Running the following script pops up a graphical window showing a demo for robot localization using both motion sensors and LiDAR measurements through Particle Filtering:

python pf_localization.py