Video S1 - BatSLAM: Simultaneous Localization and Mapping Using Biomimetic Sonar

Mapping of an office environment using BatSLAM. This video shows the construction of a map in a normal office environment. The experience map shows the constructed map, and the current sonar data is represented in the panel “current cochleogram”. The raw odometry information is displayed as well, indicating the erroneous robot position estimation when only odometry information is used. Finally, the panel “Frame vs View Template” indicates which local view template is associated with the current robot pose.

(AVI)