Simultaneous Localization And Mapping (Interval SLAM)

During my PHD I worked on Bearing Only SLAM using interval methods. The case when there are no outliers in the data (which is shown in the simulation) was first implemented by Dr. Cyril JOLY.  One of the perspectives is to apply my PHD thesis results to the case when there are outliers. In the following simulation I used 30 marks. The positions of the marks are represented by rectangles (boxes in interval jargon). The trajectory is a set of consectutive cherry colored rectangles. Robot’s heading is represented by three lines  one gree and two yellow ones.

Non robust to outliers bearing only SLAM:

—  J.S. —