This project was done as a part of the course ESE650 : Learning in Robotics at UPenn. This project involves implementing Simultaneous Localization and Mapping based on Odometry data and 2D-Lidar scans. It uses MonteCarlo sampling and Particle filter to get the localization and generate the occupancy grid of the environment. The pipeline is shown below:
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| World 1 | World 2 |
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| World 3 | World 4 |