Week 1-4 Reading State of the Art SLAM Papers

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1. SLAM research in JdeRobot

First of all, I started by reading some of the advancements in SLAM algorithms done by the JdeRobot group. I read the doctoral thesis of Eduardo Perdices Técnicas para la localización visual robusta de robots en tiempo real con y sin mapas.

In this thesis I learn about the basics of SLAM algorithm and the differents approaches that have been made over time to solve the problem of simultaneous location and mapping.

2. RTAB-Map

After that, since this is a problem using an RGBD camera, I started reading the TFM of Alberto Martín Autolocalización visual 3D usando mapas RTAB-Map.

In this project the SLAM problem is attacked using a pre-generated 3D map of the environment and using a RGB image to get the location in this map. Also RTAB-map tool is used to generate the 3D map.

SD-SLAM installation

Finally I proceed to the installation of the SD-SLAM software of the JdeRobot group.

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