fastslam
所属分类:数值算法/人工智能
开发工具:matlab
文件大小:51KB
下载次数:109
上传日期:2014-07-07 10:34:02
上 传 者:
nefuzyf
说明: 压缩扩展卡尔曼滤波的同时定位与构图算法,自行设定路径和路标,动画显示定位过程
(Compression and expansion of Calman filter simultaneous localization and mapping algorithm, set the path and road signs, animation display positioning process
)
文件列表:
fastslam\add_control_noise.m (321, 2004-07-02)
fastslam\add_feature.m (483, 2004-03-03)
fastslam\add_observation_noise.m (289, 2004-02-23)
fastslam\compute_jacobians.m (660, 2004-07-19)
fastslam\compute_steering.m (977, 2004-07-02)
fastslam\configfile.m (1570, 2006-06-26)
fastslam\data_associate_known.m (486, 2004-03-01)
fastslam\example_webmap.mat (1072, 2004-03-26)
fastslam\fastslam1\compute_weight.m (295, 2004-03-02)
fastslam\fastslam1\fastslam1_sim.asv (6576, 2006-06-26)
fastslam\fastslam1\fastslam1_sim.m (6664, 2006-06-30)
fastslam\fastslam1\get_lm.m (539, 2006-07-17)
fastslam\fastslam1\get_wp.m (588, 2006-07-17)
fastslam\fastslam1\ginit.m (1426, 2006-07-10)
fastslam\fastslam1\globals.m (1379, 2006-07-07)
fastslam\fastslam1\predict.m (359, 2004-07-19)
fastslam\fastslam1\set_up.m (2051, 2006-07-17)
fastslam\fastslam2\compute_weight.m (120, 2006-02-16)
fastslam\fastslam2\fastslam2_sim.m (7719, 2009-07-27)
fastslam\fastslam2\gauss_evaluate.m (1134, 2005-10-18)
fastslam\fastslam2\get_lm.m (539, 2006-07-17)
fastslam\fastslam2\get_wp.m (588, 2006-07-17)
fastslam\fastslam2\ginit.m (1426, 2006-07-10)
fastslam\fastslam2\globals.m (1379, 2006-07-07)
fastslam\fastslam2\observe_heading.m (323, 2004-03-01)
fastslam\fastslam2\predict.m (981, 2004-06-07)
fastslam\fastslam2\proposal.mws (11047, 2004-03-01)
fastslam\fastslam2\sample_proposal.m (1490, 2006-02-17)
fastslam\fastslam2\set_up.m (2051, 2006-07-17)
fastslam\fastslam2r\compute_weightr.m (580, 2006-02-16)
fastslam\fastslam2r\fastslam2r_sim.asv (7521, 2006-06-26)
fastslam\fastslam2r\fastslam2r_sim.m (7521, 2006-06-26)
fastslam\fastslam2r\get_lm.m (539, 2006-07-17)
fastslam\fastslam2r\get_wp.m (588, 2006-07-17)
fastslam\fastslam2r\ginit.m (1426, 2006-07-10)
fastslam\fastslam2r\globals.m (1379, 2006-07-07)
fastslam\fastslam2r\observe_heading.m (323, 2004-03-01)
fastslam\fastslam2r\predict.m (981, 2004-06-07)
fastslam\fastslam2r\sample_proposal.m (739, 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.
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