Robotic Mapping and Localization with Real-Time Dense Stereo on Reconfigurable Hardware
Figure 14
Projection of the estimated map (blue dots) on the xy plane. Red line is the estimated vehicle path. Black lines represent the ground truth of the objects in the map and crosses are the true vehicle positions during the first round. (a): result after one round, with one particle in the filter. (b): five particles, two rounds. Purple dots represent new landmarks observed during the second round. (c): ten particles.
