SLAM Simulation

Control a drone to simulate SLAM (Simultaneous Localization and Mapping).

Instructions

1. Click "Start Simulation".
2. Use WASD to move around, Space to go up, and Shift to go down. Use J and L to turn left and right, and I and K to look up and down. Press P to stabilize. Press E to toggle the sensor, which will automatically add nodes to the pose graph. We recommend that you get around 100 nodes (see the bottom left corner).
3. Click "Stop Simulation" in the top left corner. White dots will appear to represent pose graph nodes with simulated error, and magenta dots will appear to show the ground truth trajectory. Particles will appear to display the point cloud map. You can move around with the same controls.
4. Click "Restart Simulation" to do it again.

Authors: Andrew Cheung and Joel Puthankalam.

We'd also like to thank our teammates, Jia Jiang, Jack Krammer, and Jerry Tang for their contributions to the overall SLAM exploration project, as well as Professor Franz Kurfess at Cal Poly.

GitHub link: https://github.com/andrewcheung27/slam-exploration.