Skip to content
Hello SLAM
Chapter 2

Particle Filters

Occupancy grid mapping, Monte Carlo localization, FastSLAM and Rao-Blackwellized particle filters.

  1. 2.1
    Occupancy Grid Maps

    Representing the world as a grid of free / occupied cells via log-odds.

  2. 2.2
    Monte Carlo Localization

    Approximating beliefs with weighted samples; sampling, weighting, resampling.

  3. 2.3
    FastSLAM

    Factoring SLAM into a particle filter over poses plus per-particle landmark EKFs.

  4. 2.4
    Grid-based SLAM (RBPF)

    Rao-Blackwellized particle filter for SLAM with occupancy grids.