Modularize code and create a Rao-Blackwellized particle filter function for Fast-SLAM. Confirm correct operation of resampling step and run on different feature maps and with different sensor and motion models. Possible extension to FastSLAM 2.0 motion updates would be interesting.
Modularize code and create a Rao-Blackwellized particle filter function for Fast-SLAM. Confirm correct operation of resampling step and run on different feature maps and with different sensor and motion models. Possible extension to FastSLAM 2.0 motion updates would be interesting.