Landmark Slam

This repo contains the implementation of several SLAM algorithms, such as:

• EKF SLAM
• UKF SLAM (TODO)
• EIF SLAM (TODO)
• Fast SLAM

Implementation was done in C++ using the Eigen3 library.

Install

Download the dependencies:

cd "path/to/repo"
git submodule update --init --recursive

Build the executeable slam using the CMake build system:

cd "path/to/repo"
mkdir build
cd build
cmake ..
make

You can then run the application using

./slam

No command line options are currently supported. The algorithm has to be chosen in the source code manually. This requires a recompilation.