Simultaneous Localization and Mapping (SLAM)

In August of 2006, I attended the SLAM Summer School (SSS06) at the University of Oxford. All presentations, related papers, and labs from SSS06 were distributed to participants in CD form. The contents of the CD were zipped up and can be downloaded by clicking the following link (note: file is password protected) --- sss06_cd.zip

Below was a series of lectures I created before attending the SLAM Summer Course. They cover the theory behind simultaneous localization and mapping (SLAM) as well as implementation in simulation (matlab) and experimentation (ER1 robot).

weg22@drexel.edu

Jump to a Lecture: 1 | 2 | 3 | 4 | 5

Lecture 1 - 07/14/06

Lesson Plan: Introduction to SLAM and Kalman Filter

Handouts, Slides and Homeworks

Lecture 2 - 07/21/06

Lesson Plan: Extended Kalman Filter

Handouts, Slides and Homeworks

Lecture 3 - 08/04/06

Lesson Plan: SLAM Implementation (Part I)

Handouts, Slides and Homeworks

Lecture 4 - 08/11/06

Lesson Plan: SLAM Implementation (Part II)

Handouts, Slides and Homeworks

Lecture 5 - 08/17/06

Lesson Plan: Final Project

Handouts, Slides and Homeworks