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Last Updated: September 28, 2026
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Localization off of AprilTags using Demonstrates an implementation of a grid-based FastSLAM with improved proposal and selective resampling applied to Visual SLAM is used to determine the poses of AprilTag boards at the UPenn Aviary. Using rtabmap with a RealSense D435i camera for mapping. In a natural environment, rgbd_odometry is no longer suitable. A simple demonstration of switchable Incremental Scan-to-Submap registration and Demonstrates Cartographer's real-time Using ORB SLAM2 from link github.com/raulmur/ORB_SLAM2 with some modifications.
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