EKF-SLAM

Architecture

The EKF Slam library is structured into multiple parts to allow for maximum flexibility:

• The slam module is the pure mathematical implementation of an EKF-SLAM
• The models module provides the definition of system descriptions for both the vehicle and tracked objects
• The manager module allows for the combination of the EKfSlam module with use selected models
• The association module allows for the definition of different assosciation strategies for the slam module

Including the library using FetchContent

The library can be automatically downloaded using CMakes FetchContent Module:

include(FetchContent)

FetchContent_Declare(ekf_slam
        GIT_REPOSITORY "https://github.com/aul12/EkfSlam.git")
FetchContent_MakeAvailable(ekf_slam)

target_link_libraries(foo PRIVATE EKFSlam)