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fastslam1 Split files into FSlam1, FSlam2, Core
fastslam2 Split files into FSlam1, FSlam2, Core
fastslam2r matlab code added for fastslam
KF_cholesky_update.m matlab code added for fastslam
KF_joseph_update.m matlab code added for fastslam
TransformToGlobal.m matlab code added for fastslam
add_control_noise.m matlab code added for fastslam
add_feature.m matlab code added for fastslam
add_observation_noise.m matlab code added for fastslam
compute_jacobians.m ready to start with OpenCL
compute_steering.m matlab code added for fastslam
configfile.m matlab code added for fastslam
data_associate_known.m matlab code added for fastslam
example_webmap.mat matlab code added for fastslam
fast_to_ekf_diag.m matlab code added for fastslam
feature_update.m matlab code added for fastslam
frontend.fig matlab code added for fastslam
frontend.m matlab code added for fastslam
get_observations.m matlab code added for fastslam
line_plot_conversion.m matlab code added for fastslam
multivariate_gauss.m matlab code added for fastslam
pi_to_pi.m matlab code added for fastslam
predict_true.m matlab code added for fastslam
readme.txt matlab code added for fastslam
resample_particles.m matlab code added for fastslam
sqrtm_2by2.m matlab code added for fastslam
stratified_random.m matlab code added for fastslam
stratified_resample.m matlab code added for fastslam

readme.txt

FastSLAM Simulator (version 1.0)
------------------

This simulator demonstrates simple implementations of FastSLAM versions 1.0 and 2.0.
It permits simple configuration via 'configfile.m' to perform SLAM with various 
control parameters, noises, etc. The simulator assumes known data association.

The key files in this simulator are called 'fastslam1_sim.m' and 'fastslam2_sim.m'
for FastSLAM 1.0 and 2.0, respectively. These files are in the two subdirectories
in this collection.

The runtime of this simulator is very slow due, in part, to the graphics of the
simulator animations, and also to the use of 'for'-loops. Loops in Matlab are very 
inefficient, but it is difficult to avoid them for this task without making the
code very obscure. Hopefully, however, the basic algorithms are clear enough to
assist development in a more suitable language.

Tim Bailey and Juan Nieto
2004.


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