slam3d Python Bindings

Wireless Sensing and Embedded Systems Lab (WiSE Lab), 2021

Python, C, Cython

Library

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slam3d is a set of C libraries for implementing simultaneous localization and mapping (SLAM) tools in 3D. One of the most important of these is a particle filter, which can be used to converge relative and absolute coordinate information from multiple sources. I implemented Python bindings, regression testing, and portability of the particle filter to allow it to be used in localizing Python-based robots and drones in indoor environments.

I also produced the rover shown here, which makes use of the particle filter. The rover features an Intel T265, Ultra-wideband (UWB) radio, and lidar.