Project of probabilistic robotics 2021/2022
Estimate initial guess for the map from measurements and reduce error of trajectory and map using least square algorithm
After Initial Guess:
- landmark error: 3.081
- pose error: 2.469
After 25 iterations:
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Using only range measurements:
- landmark error: 2.82
- pose error: 2.56
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Using range and odometry measurements:
- landmark error: 1.569
- pose error: 1.6767
Using also the odometry measurements in the least squares algorithm greatly reduce the error, but introduce some artifacts in the upper-right region of the path.
Notice problems on top-right corner but good accuracy on trajectory
Execute by running main.m