Recent posts

SLAM using Grid-based FastSLAM

7 minute read

For Simultaneous Localization and Mapping a lot of algorithms exist. This post shows the basics of SLAM and how Grid-based FastSLAM works using ROS.

Monte Carlo Localization

8 minute read

Monte Carlo Localization can be used to localize a robot in a world with its position and orientation. This post shows the basic algorithm and a c++ implemen...

ROS Kalman Filter for Sensor Fusion

13 minute read

The Kalman filter is used for state estimation and sensor fusion. This post shows how sensor fusion is done using the Kalman filter and ROS.

Extended Kalman Filter

1 minute read

The Kalman filter is used for state estimation but limited to linear models. To deal with nonlinear models the extended Kalman filter can be used instead.