This repository contains the solutions of some exercises from the lecture Robot Mapping by:

• Lecturer: Cyrill Stachniss
• Tutors: Rainer Kuemmerle and Fabrizio Nenci

I've rewritten all examples in the Julia language. The EKF SLAM algorithm also in C++.

Lecture recordings are available on YouTube.

Exercise "odometry model" (sheet 1, exercise 2)

Exercise "EFK SLAM" (sheet 4, exercise 1)

Exercise "Unscented transform" (sheet 5, exercise 1)

Exercise "Unscented SLAM" (sheet 6, exercise 1)

Own exercise "Canonical parametrization of gaussian distribution"

Exercise "Gridmapping" (sheet 7, exercise 1)

Related

• Repositories containing solutions written in Octave:
  • https://github.com/kiran-mohan/SLAM-Algorithms-Octave
  • https://github.com/salihmarangoz/RobotMappingCourse
  • https://github.com/aimas-upb/slam-course-solutions