Simulation and Analysis of Particle Filter Based SLAM System

Piotr Kaniewski and Paweł Słowak 1

1Military University of Technology, Warszawa, Poland

2Military University of Technology, Warszawa, Poland

DOI: DOI: 10.1515/aon-2018-0010


The paper describes a problem and an algorithm for simultaneous localization and mapping
(SLAM) for an unmanned aerial vehicle (UAV). The algorithm developed by the authors
estimates the flight trajectory and builds a map of the terrain below the UAV. As a tool for
estimating the UAV position and other parameters of flight, a particle filter was applied. The
proposed algorithm was tested and analyzed by simulations and the paper presents a simulator developed by the authors and used for SLAM testing purposes. Chosen simulation results,
including maps and UAV trajectories constructed by the SLAM algorithm are included in the


SLAM, particle filter, simulation, INS, monocular camera


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