├── CMakeLists.txt ├── Heriot_Watt_University__HWU__CS_Masters_thesis_Sonar_based_SLAM_for_underwater_ROV.pdf ├── README.md ├── Results ├── Prototype 2 │ ├── no noise │ │ ├── no_noise_DVLfig.fig │ │ ├── no_noise_DVLfig.jpg │ │ ├── no_noise_IMU.fig │ │ ├── no_noise_IMU.jpg │ │ ├── no_noise_RMS.fig │ │ ├── no_noise_RMS.jpg │ │ ├── no_noise_pose.fig │ │ ├── no_noise_pose.jpg │ │ └── odometry_no_noise.csv │ └── noisy │ │ ├── noise_DVLfig.fig │ │ ├── noise_DVLfig.jpg │ │ ├── noise_IMU.fig │ │ ├── noise_IMU.jpg │ │ ├── noise_RMS.fig │ │ ├── noise_RMS.jpg │ │ ├── noise_pose.fig │ │ ├── noise_pose.jpg │ │ └── odometry_noise.csv ├── Prototype 5 │ ├── localization improved │ │ ├── DVL_gauss.fig │ │ ├── RMS_gauss.fig │ │ ├── RMS_line.fig │ │ ├── gaussian_DVL.jpg │ │ ├── gaussian_RMS.jpg │ │ ├── gaussian_pose.jpg │ │ ├── linear_RMS.jpg │ │ ├── linear_pose.jpg │ │ ├── pose_gauss.fig │ │ ├── pose_line.fig │ │ ├── reccord_localization_gauss_new.csv │ │ └── reccord_localization_linear_new.csv │ └── localization │ │ ├── gaussian_DVLfig.fig │ │ ├── gaussian_RMS.fig │ │ ├── gaussian_RMS.jpg │ │ ├── gaussian_pose.fig │ │ ├── gaussian_pose.jpg │ │ ├── linear_RMS.fig │ │ ├── linear_RMS.jpg │ │ ├── linear_pose.fig │ │ ├── linear_pose.jpg │ │ ├── reccord_localization3.csv │ │ └── reccord_localization_DRIFT.csv └── Prototype 7 │ ├── SLAM RMS.fig │ ├── SLAM pose.fig │ ├── SLAMRMS.jpg │ └── SLAMpose.jpg ├── images ├── 1.PNG ├── 1200px-Heriot-Watt_University_logo.jpg ├── 2.PNG ├── 3.PNG ├── 9e9dd76fd4f547150d948ba49b7f92b3_74108.jpeg ├── BlueROV2-4-lumen-1-300x300.png ├── Screenshot from 2020-03-02 15-56-21.png ├── hh.jpg ├── pi.pi └── video.png ├── launch ├── bag.launch ├── dynamic_slam.launch ├── octomap.launch ├── sim.launch └── static_slam.launch ├── msg └── my_msg.msg ├── package.xml ├── rosbag └── static_sonar.bag ├── src ├── filtering.py ├── icp │ ├── Test │ │ ├── test_EKF.py │ │ ├── test_ICP.py │ │ ├── x_test.csv │ │ ├── xy_test.csv │ │ ├── y_test.csv │ │ └── yaw_test.csv │ ├── buffers │ │ ├── dynamic_buffer.py │ │ ├── mapping.py │ │ └── static_buffer.py │ ├── class_KF.py │ ├── class_KF.pyc │ ├── class_icp.py │ ├── class_icp.pyc │ ├── class_retrive_data.py │ ├── class_retrive_data.pyc │ ├── main.py │ ├── main_2.py │ ├── reccording │ │ ├── reccord_localization.csv │ │ ├── reccord_localization_linear_new (copy).csv │ │ └── reccord_position.py │ ├── test.py │ └── test_ICP.py ├── robot init │ ├── dvl.py │ ├── laserscan_to_poincloud.py │ ├── map_tf.py │ ├── odom_tf.py │ └── sonar_simulation_dynamic.py └── useless │ ├── 3D_map_Point_cloud.py │ ├── Dead_reackoning.py │ ├── converting.py │ ├── dead_reck.csv │ ├── frame.py │ ├── odom.csv │ ├── pointcloudtolaserscan.py │ └── sonar_simulation.py └── world └── training /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Tim-HW/HW-BlueRov2-Sonar-based-SLAM/HEAD/CMakeLists.txt 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