Application: rbpf-slam

It is actually a front-end to the class mrpt::slam::CMetricMapBuilderRBPF. All the parameters to the algorithm are passed through a configuration file in the command line. The filter processes actions and observations from a rawlog file and optionally generates a number of files describing the evolution of the filter and the maps.

1. Rao-Blackwellized Particle Filter SLAM (rbpf-slam)

It is actually a front-end to the class mrpt::slam::CMetricMapBuilderRBPF. All the parameters to the algorithm are passed through a configuration file in the command line. The filter processes actions and observations from a rawlog file and optionally generates a number of files describing the evolution of the filter and the maps.
The mathematical background of RBPF-based SLAM and to see an updated list of the implemented RBPF-SLAM solutions can be found in this tutorial page.

 

2. Program usage

”rbpf-slam” is a command-line application which processes a rawlog (thus, it is intended for off-line processing) and
creates a map using the particle filter methods specified in the config file.

Example configuration files can be found in:  https://raw.github.com/MRPT/mrpt/master/share/mrpt/config_files/rbpf-slam/

  • While I was running the rbpf-slam, the program always crashed with an expection “bad allocation”, the memory usage seemed was limited under a line of 1.5Gb.

    Environment: win7x64,vs2010,mrpt-1.0.2.