文件列表:

EKFSLAM (0, 2018-09-09)
EKFSLAM\add_control_noise.m (277, 2004-03-25)
EKFSLAM\add_observation_noise.m (343, 2004-03-25)
EKFSLAM\augment.m (1101, 2004-03-25)
EKFSLAM\augment_associate_known.m (490, 2004-03-25)
EKFSLAM\compute_steering.m (1140, 2004-03-25)
EKFSLAM\configfile.m (2046, 2004-03-26)
EKFSLAM\data_associate.m (1557, 2004-03-25)
EKFSLAM\data_associate_known.m (879, 2004-03-25)
EKFSLAM\ekfslam_sim.m (6670, 2004-03-26)
EKFSLAM\example_webmap.mat (1072, 2004-03-26)
EKFSLAM\frontend.fig (54416, 2004-02-16)
EKFSLAM\frontend.m (5629, 2004-03-26)
EKFSLAM\get_observations.m (1378, 2004-03-25)
EKFSLAM\KF_cholesky_update.m (611, 2004-03-08)
EKFSLAM\KF_IEKF_update.m (1470, 2004-03-26)
EKFSLAM\KF_simple_update.m (632, 2004-02-13)
EKFSLAM\line_plot_conversion.m (827, 2004-02-13)
EKFSLAM\observe_heading.m (417, 2004-03-25)
EKFSLAM\observe_model.m (838, 2004-03-25)
EKFSLAM\pi_to_pi.m (239, 2004-02-13)
EKFSLAM\plot_feature_loci.m (586, 2004-03-26)
EKFSLAM\predict.m (852, 2004-03-16)
EKFSLAM\TransformToGlobal.m (433, 2004-03-25)
EKFSLAM\update.m (1125, 2004-03-25)
EKFSLAM\update_iekf.m (1045, 2004-03-25)
EKFSLAM\vehicle_model.m (340, 2004-03-25)

EKF-SLAM Simulator ------------------ This simulator demonstrates a simple implementation of standard EKF-SLAM. It permits simple configuration via 'configfile.m' to perform SLAM with various control parameters, noises, etc. Also various switches are available to choose known data-association versus gating, etc. The key file in this simulator is called 'ekfslam_sim.m'. Type 'help ekfslam_sim' for more information of how to use it. In addition to on-line animations, the simulator returns a data-structure of the logged state information for off-line processing. An example use of this data is shown in m-file 'plot_feature_loci.m', which plots the trajectories of the landmark estimates. Tim Bailey and Juan Nieto 2004.

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