Mobile Localization

This was the first homework assignment from a class I audited at Northwestern University - EECS 4995 Machine Learning and AI for Robotics.

Dataset

Data used in this assignment was from the Autonomous Space Robotics Lab at the University of Toronto which can be seen here: http://asrl.utias.utoronto.ca/datasets/mrclam/index.html. Two truncated data files were used:

  • ds0: includes data taken from a freely roaming robot
  • ds1 possessed partially occluded landmarks.

ds0 Results

Path Plots for ds0

Path Plots for ds0

Error Plots for ds0

Error Plots for ds0