![occupancy grid mapping vs slam occupancy grid mapping vs slam](https://slideplayer.com/slide/6912553/23/images/7/Representations+Grid+maps+or+scans+Landmark-based.jpg)
![occupancy grid mapping vs slam occupancy grid mapping vs slam](https://www.mdpi.com/entropy/entropy-20-00456/article_deploy/html/images/entropy-20-00456-g001.png)
Attitude estimates consists of roll, pitch, and yaw of the UAV. Position observations consists of x, y, and z coordinates estimated using optical flow (x and y coordinate) and a laser range finder (z coordinate).
OCCUPANCY GRID MAPPING VS SLAM FOR FREE
Crazyflie does this estimation in it’s firmware and we can enjoy the estimated positions for free :) Using the python client API of Crazyflie, we can subscribe to position, attitude, and range observations using a callback mechanism. When a UAV is navigating in a space where there is no external support for localization such as GPS or cameras, only way to find the position of the UAV at any time is to estimate its position using onboard sensors and control commands issued to the UAV. These range observations (except for the up direction) along with flow-deck observations are utilized in this post for mapping the environment. A multi-ranger deck is added to the Crazyflie for receiving range observations in five directions ( left, right, front, back, and up). SensorsĬrazyflie has flow-deck which consists of sensors to estimate height (z direction) from the ground and lateral displacement (x and y direction). Let’s explore the task of environmental perception to build a realistic map of the environment. However, this approach doesn’t scale when the environment gets large and dynamic.
![occupancy grid mapping vs slam occupancy grid mapping vs slam](https://answers.ros.org/upfiles/16027869033398494.png)
In the previous post on Motion Planning, we hand-coded the map of an obstacle course and used it for planning safe paths for the Crazyflie. Perception is a necessary skill for any autonomous agent. The act of perceiving the environment state such as obstacles and their locations is a perception task. Perception, Planning, and Control are some of the high-level tasks to be performed by a successful autonomous agent. Simultaneous Localization and Mapping (SLAM) with Crazyflie Dec 21, 2020