文件列表:

fastslam_web (0, 2004-07-19)
fastslam_web\add_control_noise.m (321, 2004-07-02)
fastslam_web\add_feature.m (483, 2004-03-03)
fastslam_web\add_observation_noise.m (289, 2004-02-23)
fastslam_web\compute_jacobians.m (660, 2004-07-19)
fastslam_web\compute_steering.m (977, 2004-07-02)
fastslam_web\configfile.m (1571, 2004-07-19)
fastslam_web\data_associate_known.m (486, 2004-03-01)
fastslam_web\example_densermap.mat (8464, 2004-05-12)
fastslam_web\example_webmap.mat (1072, 2004-03-26)
fastslam_web\fastslam1 (0, 2004-07-02)
fastslam_web\fastslam1\compute_weight.m (295, 2004-03-02)
fastslam_web\fastslam1\fastslam1_sim.m (5762, 2004-07-19)
fastslam_web\fastslam1\predict.m (359, 2004-07-19)
fastslam_web\fastslam2 (0, 2004-07-19)
fastslam_web\fastslam2\compute_weight.m (401, 2004-03-04)
fastslam_web\fastslam2\fastslam2_sim.m (6702, 2004-07-19)
fastslam_web\fastslam2\observe_heading.m (323, 2004-03-01)
fastslam_web\fastslam2\predict.m (981, 2004-06-07)
fastslam_web\fastslam2\proposal.mws (11047, 2004-03-01)
fastslam_web\fastslam2\sample_proposal.m (739, 2004-07-02)
fastslam_web\fast_to_ekf_diag.m (1093, 2004-06-11)
fastslam_web\feature_update.m (667, 2004-07-02)
fastslam_web\frontend.fig (54416, 2004-02-16)
fastslam_web\frontend.m (5629, 2004-03-26)
fastslam_web\get_observations.m (1025, 2004-06-18)
fastslam_web\KF_cholesky_update.m (611, 2004-03-08)
fastslam_web\KF_joseph_update.m (621, 2004-03-09)
fastslam_web\line_plot_conversion.m (827, 2004-02-13)
fastslam_web\multivariate_gauss.m (388, 2004-07-05)
fastslam_web\pi_to_pi.m (577, 2004-05-17)
fastslam_web\predict_true.m (172, 2004-07-02)
fastslam_web\resample_particles.m (546, 2004-07-19)
fastslam_web\sqrtm_2by2.m (757, 2004-07-19)
fastslam_web\stratified_random.m (337, 2003-12-05)
fastslam_web\stratified_resample.m (567, 2004-03-02)
fastslam_web\TransformToGlobal.m (433, 2004-07-02)

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. ----------------------------------------------------------------------------- How to run it: 1 - You need to create or load (if you already created) a map. To create/modify a map run the frontend.m file. Frontend.m : This program permits the graphical creation and manipulation of an environment of point landmarks, and the specification of vehicle path waypoints therein. USAGE: type 'frontend' to start. a. Click on the desired operation: , , or . b. Click on the type: or to commence the operation. c. If entering new landmarks or waypoints, click with the left mouse button to add new points. Click the right mouse button, or hit key to finish. d. To move or delete a point, just click near the desired point. e. Saving maps and loading previous maps is accomplished via the and buttons, respectively. To load previous maps, you don't need to run the frontend.m, you can load your *.mat into the matlab environment just writing load('*.mat') into the matlab command line. 2 - Once the map it's been imported, the arrays "lm" (landmarks position) and "wp" (waypoints) should be visible from the matlab environment. Now you have to run the main program. The simulator has two fast_slam versions, fastslam and fastlsam 2.0, so go to the respective folder to run one or the other. For example to run fastslam 2.0, go to the fastslam2 folder, and once there run fastslam2_sim. fastslam2_sim.m: write in the command line the next: data= fastslam2_sim(lm, wp); this is the main's filter function, where: INPUTS: lm - set of landmarks wp - set of waypoints OUTPUTS: data - set of particles representing final state - Is a structure that has: data = w : particles weights xv : vehicle pose xf :features position Pf : features covariance matrix NOTES: The configuration of the simulator is managed by the script file 'configfile.m'. To alter the parameters of the vehicle, sensors, etc adjust this file. There are also several switches that control certain filter options. The two versions of fastslam use the same configfile, for that reason this file is in the global folder (if you are inside the fastslam 1 o 2 folder, you have to go up one level to see the configfile)

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