This is the Matlab code for PHD-SLAM 2.0, which aims to perform SLAM in the case that the origin of measurements is unknown and, furthermore, miss-detections and clutter are present.

The related paper is: L. Gao, G. Battistelli, and L. Chisci, PHD-SLAM 2.0: efficient SLAM in presence of miss-detections and clutter, IEEE Transactions on Robotics.

The code was programmed by Lin Gao (Email: lingao_1014@126.com).

We would like to mention some excellent contributions on the same topic such as:

UF-SLAM: https://openslam-org.github.io/ufastslam.html (The source files downloaded from this link have been employed in our paper)

EKF-SLAM: https://github.com/ezamorag/EKFSLAM_for_Victoria_Park_Benchmark/blob/master/simEKFSLAM.m

IEKF-SLAM with known data association: https://github.com/mbrossar/iekf-slam.