ekfslam_v1.0

所属分类:matlab编程
开发工具:matlab
文件大小:13495KB
下载次数:38
上传日期:2012-05-21 12:08:59
上 传 者chxd914
说明:  通过采用ekf算法来实现SLAM,对比了真实值与采用算法后计算结果,说明程序的可行性。
(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. )

文件列表:
ekfslam_v1.0\1.mat (449, 2012-05-03)
ekfslam_v1.0\actxlicense.m (113, 2012-05-11)
ekfslam_v1.0\add_control_noise.m (277, 2004-03-25)
ekfslam_v1.0\add_observation_noise.m (343, 2004-03-25)
ekfslam_v1.0\augment.m (1101, 2004-03-25)
ekfslam_v1.0\augment_associate_known.m (490, 2004-03-25)
ekfslam_v1.0\compute_steering.m (1140, 2004-03-25)
ekfslam_v1.0\configfile.m (2046, 2004-03-26)
ekfslam_v1.0\data_associate.m (1557, 2004-03-25)
ekfslam_v1.0\data_associate_known.m (879, 2004-03-25)
ekfslam_v1.0\ekfslam_sim.asv (6670, 2012-05-04)
ekfslam_v1.0\ekfslam_sim.m (6670, 2004-03-26)
ekfslam_v1.0\example_webmap.mat (1072, 2004-03-26)
ekfslam_v1.0\frontend.fig (54416, 2004-02-16)
ekfslam_v1.0\frontend.m (5629, 2004-03-26)
ekfslam_v1.0\get_observations.m (1378, 2004-03-25)
ekfslam_v1.0\KF_cholesky_update.m (611, 2004-03-08)
ekfslam_v1.0\KF_IEKF_update.m (1470, 2004-03-26)
ekfslam_v1.0\KF_simple_update.m (632, 2004-02-13)
ekfslam_v1.0\line_plot_conversion.m (827, 2004-02-13)
ekfslam_v1.0\observe_heading.m (417, 2004-03-25)
ekfslam_v1.0\observe_model.m (838, 2004-03-25)
ekfslam_v1.0\pi_to_pi.m (239, 2004-02-13)
ekfslam_v1.0\plot_feature_loci.m (586, 2004-03-26)
ekfslam_v1.0\predict.m (852, 2004-03-16)
ekfslam_v1.0\TransformToGlobal.m (433, 2004-03-25)
ekfslam_v1.0\update.m (1125, 2004-03-25)
ekfslam_v1.0\update_iekf.m (1045, 2004-03-25)
ekfslam_v1.0\vehicle_model.m (340, 2004-03-25)
ekfslam_v1.0\新建文件夹 (3)\XV910_201251303712.bmp (1209654, 2012-05-13)
ekfslam_v1.0\新建文件夹 (3)\XV910_201251304129.bmp (1209654, 2012-05-13)
ekfslam_v1.0\新建文件夹 (3)\XV910_201251304239.bmp (1209654, 2012-05-13)
ekfslam_v1.0\新建文件夹 (3)\XV910_20125130429.bmp (1209654, 2012-05-13)
ekfslam_v1.0\新建文件夹 (3)\XV910_201251305646.bmp (1209654, 2012-05-13)
ekfslam_v1.0\新建文件夹 (3)\XV910_201251305730.bmp (1209654, 2012-05-13)
ekfslam_v1.0\新建文件夹 (3)\XV910_201251305740.bmp (1209654, 2012-05-13)
ekfslam_v1.0\新建文件夹 (3)\XV910_201251305751.bmp (1209654, 2012-05-13)
ekfslam_v1.0\新建文件夹 (3)\XV910_20125130580.bmp (1209654, 2012-05-13)
ekfslam_v1.0\新建文件夹 (3)\XV910_201251305839.bmp (1209654, 2012-05-13)
... ...

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.

近期下载者

相关文件


收藏者