This is an implementation of the EKF SLAM with known data association algorithm from the book Probabilistic Robotics by Thrun et. al. I wrote this code to help me understand the material better.

The simulation consists of a robot with a range sensor that can detect landmarks in the world. You move the robot around using the arrow keys.

###Requirements This demo code requires the following libraries

• SDL2
• Eigen

I've only tested this on a Linux machine but it should on Mac and Windows because both libraries are cross platform.

###Compiling

mkdir build
cd build
cmake ..
make

###Customization All the parameters for the simulation can be found in config.h