Simultaneous localization and mapping with TurtleBotII

Abstract

The paper introduces a solution of Simultaneous Localization and Mapping what use basic sensors of TurtleBotlI like integrated odometer and gyroscope in Kobuki robot base, as well as XBOX 360 Kinect RGBD data. We can define new position and orientation of robot using previous location and sensors' data with Extended Kalman Filter (EKF) in indoor environment. The client program communicates with Robot Operating System with remote access in C#. Our results built into a higher system which called Teki Control Project.