文件列表:

ukfslam\add_control_noise.m (277, 2004-03-25)
ukfslam\add_observation_noise.m (343, 2004-03-25)
ukfslam\augment.m (444, 2006-02-10)
ukfslam\beginbutton.m (1272, 2006-07-17)
ukfslam\beginfig.m (2393, 2006-07-17)
ukfslam\beginins.m (7754, 2006-07-17)
ukfslam\beginlots.m (5472, 2006-07-17)
ukfslam\chi_square_bound.m (691, 2005-04-28)
ukfslam\chi_square_density.m (402, 2005-04-28)
ukfslam\chi_square_mass.m (360, 2005-04-28)
ukfslam\chi_square_to_gauss.m (678, 2006-01-24)
ukfslam\compute_steering.m (1140, 2004-03-25)
ukfslam\configfile.asv (1588, 2006-07-21)
ukfslam\configfile.m (1588, 2006-07-21)
ukfslam\Contents.m (4399, 2006-02-09)
ukfslam\corefield.gif (5022524, 2006-07-17)
ukfslam\data_associate_known.m (879, 2004-03-25)
ukfslam\demo_bearing_only.m (4168, 2006-01-05)
ukfslam\demo_chi_square.m (722, 2006-01-05)
ukfslam\demo_ekf_filter.m (5217, 2005-12-06)
ukfslam\demo_kmeans.m (531, 2005-11-29)
ukfslam\demo_particle_filter.m (3962, 2005-06-09)
ukfslam\demo_unscented_filter.m (4058, 2005-04-28)
ukfslam\distance_bhattacharyya.m (772, 2005-12-08)
ukfslam\distance_KLD.m (930, 2005-12-08)
ukfslam\distance_KLD_symmetric.m (737, 2005-12-08)
ukfslam\distance_mahalanobis.m (466, 2005-07-29)
ukfslam\distance_normalised.m (997, 2006-01-05)
ukfslam\dist_sqr.m (736, 2005-10-11)
ukfslam\dist_sqr_.m (862, 2005-10-11)
ukfslam\dist_sqr_v2.m (812, 2005-04-28)
ukfslam\EKF_update.m (2337, 2005-06-09)
ukfslam\ellipse_mass.m (540, 2006-02-09)
ukfslam\ellipse_sigma.m (506, 2006-02-09)
ukfslam\example.gif (67659, 2006-07-17)
ukfslam\example1.gif (269388, 2006-07-17)
ukfslam\example_smallmap.mat (720, 2006-02-11)
ukfslam\example_webmap.mat (1072, 2004-03-26)
ukfslam\gauss_evaluate.m (1134, 2005-10-18)
ukfslam\gauss_likelihood.m (1229, 2005-04-28)
... ...

UKF-SLAM -------- This set of Matlab functions performs a simulation of simultaneous localisation and mapping (SLAM) using the unscented Kalman filter (UKF). It is an adaptation of the EKF-SLAM simulator also available online. To use this simulator, you need to first download my "Matlab Utilities" package and add it to your Matlab path. These utilities perform all kinds of filtering operations, and are fast, being completely vectored for speed. They are available from: http://www.acfr.usyd.edu.au/homepages/academic/tbailey/software/software.html To run the simulator, first load a map, then run the simulator. Eg, load example_webmap data = ukfslam_sim(lm, wp); The returned "data" structure contained recorded values for subsequent off-line processing, if desired. To configure the simulator, edit the file "configfile.m". This file contains process and observation noise settings and various other settings. Tim Bailey 2006.

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