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TransformToGlobal.m
add_control_noise.m
add_observation_noise.m
augment.m
cekfslam.m
compute_rotationspeed.m
configfile.m
data_associate.m
frontend.fig
frontend.m
full_states_update.m
get_observations.m
line_plot_conversion.m
loop902.mat
observe_model.m
pi_to_pi.m
plot_feature_loci.m
predict.m
readme.txt
reassign_states.m
switch_active_local_area.m
update.m
vehicle_model.m

readme.txt

Compressed Extended Kalman Fileter-based SLAM simulator

by Zhang Haiqiang
Thanks to Tim Bailey and Juan Nieto for their code of EKF-SLAM 2004.Version 1.0

=========================================
To run this simulator:
1. load loop902.mat to the workspace
2. run "data = cekfslam(lm,wp)" in the command window
=========================================

+++++++++++++++++++++++++++++++++++++++++
2008-5-11
--Fix bugs when dealing with JXA.
--The covariance ellipses are drawn by a more visually convincingly manner.


2008-3-27
I'm working on the data association.

--Fix a bug in state augment

2007-11-22
This code works well under:
Linux Matlab7.4.0.336 (R2007a)
Windows Matlab 7.0.0.19920 (R14) on the loop902.mat.

HOWEVER, ONLY NUMBER_LOOPS= 1 works fine.