Director of Research (if dissertation) or Advisor (if thesis)
Dullerud, Geir E
Department of Study
Electrical & Computer Engineering
Discipline
Computer Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
GridSLAM
SLAM
RAPTOR
Abstract
This thesis develops and applies GridSLAM on a small autonomous car-like vehicle for indoor environments. GridSLAM uses a particle filter to generate a discretized 2D occupancy map. This GridSLAM implementation uses sparse, shared, and lazy data structures to reduce memory usage and computation requirements.
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