A Mobile Robot System for 2D/3D SLAM

This project presents a mobile robot system for solving the simultaneous localization and mapping (SLAM) problem, a key issue for autonomous navigation in unknown environments. The considered scenario is that of a mobile robot using range scans, provided by a 2D LiDAR, to update a map of the environment and simultaneously estimate its position and orientation within the map. Experimental tests performed within a real-world indoor environment demonstrate the performance of the proposed SLAM mobile robot system.The mobile robot system can be easily modified to be a 3D SLAM system based on RGB-D camera