Simultaneous Localization and Mapping (SLAM)

Here, I implement Simultaneous Localization and Mapping (SLAM) in an indoor environment using information from an IMU and a LiDAR sensor. The data is collected from a humanoid robot named THOR built at Penn and UCLA. Find a video about the robot here. The goal is to estimate the robot's pose and build an occupancy grid map of the surroundings.

Below are the results for four different walks in our school! You can find the code here.