Anatidaephilia: centralized city-based SLAM (cSLAM)
Project Resources
- Motto: Unum potest servare quod, carissimi mihi, anatis.
- Objective: Map the pose of the AprilTags and localize the positions of the Duckiebots as accurately as possible.
- Authors: Rohit Suri, Amaury Camus, Francesco Milano, Benson Kuan, Aleksander Petrov
cSLAM Project Description
Project cSLAM – Simultaneous Localization and Mapping (SLAM) is a successful approach for robots to estimate their position and orientation in the world they operate in, while at the same time creating a representation of their surroundings.
This project, centralized SLAM (or cSLAM), enables a Duckiebot to localize itself, while the watchtowers and Duckiebots work together to build a map of the city. The task is achieved by using the camera of the Duckiebot, together with watchtowers located along the path, to detect AprilTags attached to the tiles, the traffic signs, and the Duckiebot itself.
P. S. Anatidaephilia, is Latin for loving, and being addicted to, the idea that somewhere, somehow, a duck is watching you.
Project Highlights
Here is a visual tour of the work of the authors.
Check out the documents for more details!
cSLAM Project Results
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This work developed into a paper, check the article here.
Project Authors
Rohit Suri is a former Duckietown student, now a Roboticist at Venti Technologies in Singapore.
Aleksandar Petrov is a former Duckietown student, now a Ph. D. student at the University of Oxford.
Amaury Camus is a former Duckietown student, now a Lead Robotics engineer at Hydromea SA in Switzerland.
Francesco Milano is a former Duckietown student, now a Ph. D. student at ETH Zurich in Switzerland.
Benson Kuan is a former Duckietown student, now a Senior Robotics Research Engineer at DSO National Laboratories in Singapore.
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Duckietown is a modular, customizable and state-of-the-art platform for creating and disseminating robotics and AI learning experiences.
It is designed to teach, learn, and do research: from exploring the fundamentals of computer science and automation to pushing the boundaries of knowledge.