https://cppcon.org
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Implementing Particle Filters with C++ Ranges - Nahuel Espinosa - CppCon 2024
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Localization in mobile robotics, critical for autonomous navigation, is a challenging problem often addressed through particle filter algorithms, also known as Monte-Carlo Localization (MCL) estimation. The integration of the ranges library in C++20 introduced powerful new tools to enhance the implementation of these algorithms, further extended in C++23. This talk explores the use of these modern C++ features to develop efficient, composable particle filter algorithms that are well-suited for both 2D and 3D localization tasks.
Attendees can expect an introduction to the basics of particle filters, providing a foundation for understanding their application in robotics. They will then be taken through the design and implementation of a series of essential functions for a particle filter library. These examples will demonstrate how C++23 ranges can be used to refactor traditional MCL approaches into more flexible and efficient solutions.
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Slides: https://github.com/CppCon/CppCon2024/blob/main/Presentations/Implementing_Particle_Filters_with_Ranges.pdf
Sponsored by JetBrains: https://www.jetbrains.com/clion/
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Nahuel Espinosa
Nahuel Espinosa graduated as an Electronics Engineer from UTN (National Technological University) in Buenos Aires. Since graduation, Nahuel has worked with a variety of systems and technologies: - Robotics applications (e.g., localization algorithms based on particle filters, rigid-body simulations) - Data analysis pipelines - Bare-metal firmware, real-time operating systems, and reactive event-based systems for microcontrollers - Web applications (backend and frontend) Nahuel currently works as a Software Engineer with a focus on robotics at Ekumen, where he develops simulation software and is part of a Research and Development group focused on localization algorithms and state estimation problems using C++ as the main language. He is the project lead and main contributor for an open source C++ library that provides implementation of Monte Carlo based localization (MCL) algorithms.
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CppCon is the annual, week-long face-to-face gathering for the entire C++ community. The conference is organized by the C++ community for the community. You will enjoy inspirational talks and a friendly atmosphere designed to help attendees learn from each other, meet interesting people, and generally have a stimulating experience. Taking place this year in Aurora, Colorado, near the Denver airport, and including multiple diverse tracks, the conference will appeal to anyone from C++ novices to experts.
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