SLAM simulator game
Unity-based game to allow the user to understand how Simultaneous Localisation and Mapping (SLAM) works. The user can move around a mine, capture pointclouds using a simulated time of flight (ToF) camera and send them over to the Iterative Closest Point (ICP) algorithm to reconstruct the environment in real time. This allows the user to map and localise itself on an unstructured environment. Take a look at the video demo.
The backend works under the Windows Subsystem of Linux (WSL) using PCL 1.8. The communication between the multiple layers is handled using ZeroMQ.
Category
Robotics, Simulations