The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.

Gmapping是一个基于2D激光雷达使用 RBPF （Rao-Blackwellized Particle Filters）算法完成二维栅格地图构建的SLAM算法。 优点：gmapping可以实时构建室内环境地图，在小场景中计算量少，且地图精度较高，对激光雷达扫描频率要求较低。

gMapping Pieter Abbeel UC Berkeley EECS For more details, see paper: “Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters” by Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard, IEEE Transactions in Robotics, 2006 TexPoint fonts used in EMF. Read the TexPoint manual before you delete this box.: AAAAAAAAAAAAA!

GMapping is a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data. Get the Source Code! Recently Rao-Blackwellized particle filters have been introduced as effective means to solve the simultaneous localization and mapping (SLAM) problem.

Gmapping is a ROS package that implements a particle filter-based SLAM (Simultaneous Localization and Mapping) algorithm. It is used to create 2D maps from laser scan data while simultaneously determining the robot's position within the map.

2022年3月22日 · gmapping算法是一种基于激光雷达的SLAM算法，用于构建在移动机器人上的室内或室外环境地图。该算法由Giorgio Grisetti、Cyrill Stachniss和Wolfram Burgard等人于2005年提出。 gmapping算法主要分为两个步骤：建图和定位。

Gmapping is a mapping algorithm which uses laser scan and odometry information to extract a map of the environment. Install gmapping using apt package manager. NOTE: Gmapping is compatible with only ROS kinetic, indigo and lunar distributions according to the gmapping ROS wiki. That's all for the installation. You can move on the next section.

2016年7月8日 · GMapping solves the Simultaneous Localization and Mapping (SLAM) problem. Unlike, say Karto , it employs a Particle Filter (PF), which is a technique for model-based estimation. In SLAM, we are estimating two things: the map and the robot's pose within this map.

Gmapping is a laser-based SLAM (Simultaneous Localization and Mapping) algorithm that builds a 2d map. It uses laser scan data and odometry data from the Turtlebot to feed a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data.

2020年2月26日 · gmapping是目前应用最广的2D slam 方法，利用RBPF方法，故需要了解粒子滤波算法。scan-match方法在于估计机器人位置（pose），利用梯度下降的方法，在当前构建的地图，与当前的激光点，和机器人位置（pose）为初始估计值。