tinySLAM

tinySLAM is Laser-SLAM algorithm which has been programmed in less than 200 lines of C-language code.
Further information

Authors
Bruno Steux; Oussama El Hamzaoui;

Get the Source Code via SVN
svn co https://svn.openslam.org/data/svn/tinyslam

Long Description
Our idea was to develop and implement a very simple SLAM algorithm that could be easily integrated into our particle-filter based localization subsystem. For our experiments, we have been using a homebrew robotic platform called MinesRover. It's a six wheels robot fully equipped with sensors, including a Hokuyo URG04 laser scanner. A typical example of our experiments is presented in the paper mentioned below, showing the good performance of the algorithm. Furthermore, the full source code of the map update and map matching functions are provided. This work shows the possibility to perform complex tasks using simple and easily programmable algorithms.

Example Images

A map of the CAOR laboratory in Mines ParisTech obtained during our experiments

Input Data
The approach takes raw laser range data and odometry. This version of tinySLAM was tested with a Hokuyo Laser scanner. tinySLAM can also work with long-range laser scanners like SICK LMS or PLS scanner.

Type of Map
grid maps

Hardware/Software Requirements
Linux/Unix, GCC 3.3/4.0.x windows

Papers Describing the Approach
Bruno Steux and Oussama El Hamzaoui: tinySLAM : a SLAM Algorithm in less than 200 lines of C code, Accepted for the International Conference on Control, Automation, Robotics and Vision (ICARCV), 2010

License Information
This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
The authors allow the users of OpenSLAM.org to use and modify the source code for their own research. Any commercial application, redistribution, etc has to be arranged between users and authors individually and is not covered by OpenSLAM.org.

tinySLAM is licenced under the MIT License.

Further Information
The tinySLAM algorithm is compiled as a library by default, it can thus be used easily as a black box.


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