ekfslam_web_v2.0
所属分类：matlab编程
开发工具：matlab
文件大小：33KB
下载次数：401
上传日期：2007-08-17 16:30:52
上 传 者：
wuery88
说明： 基于EKF的机器人SLAM演示程序, 对于搞机器人定位及地图构建的朋友会有一定帮助, 这个版本用的人比较多
(EKF-based SLAM demo of the robot, the robot carry out positioning and mapping will have a certain friend to help, this version used by many people)
文件列表:
ekfslam (0, 2004-07-21)
ekfslam\add_control_noise.m (277, 2004-03-25)
ekfslam\add_observation_noise.m (343, 2004-03-25)
ekfslam\augment.m (1076, 2004-05-12)
ekfslam\augment_associate_known.m (470, 2004-05-12)
ekfslam\compute_steering.m (1140, 2004-03-25)
ekfslam\configfile.m (2241, 2004-05-17)
ekfslam\data_associate.m (1788, 2004-05-12)
ekfslam\data_associate_known.m (879, 2004-03-25)
ekfslam\ekfslam_sim.m (7420, 2004-05-13)
ekfslam\example_densemap.mat (2672, 2004-05-12)
ekfslam\example_densermap.mat (8464, 2004-05-12)
ekfslam\example_linemap.mat (736, 2004-05-17)
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 (714, 2004-05-13)
ekfslam\KF_IEKF_update.m (1470, 2004-03-26)
ekfslam\KF_simple_update.m (652, 2004-05-12)
ekfslam\line_plot_conversion.m (827, 2004-02-13)
ekfslam\observe_heading.m (401, 2004-05-12)
ekfslam\observe_model.m (838, 2004-03-25)
ekfslam\pi_to_pi.m (569, 2004-07-19)
ekfslam\plot_feature_loci.m (586, 2004-03-26)
ekfslam\predict.m (835, 2004-05-12)
ekfslam\sqrtm_2by2.m (811, 2004-05-12)
ekfslam\transformtoglobal.m (433, 2004-03-25)
ekfslam\update.m (1051, 2004-05-12)
ekfslam\update_iekf.m (1007, 2004-05-12)
ekfslam\vehicle_model.m (340, 2004-03-25)
EKF-SLAM Simulator (version 2.0)
------------------
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.
Note on Global Variables
------------------------
This version of the simulator uses global variables for
all large objects, such as the state covariance matrix.
While bad programming practice, it is a necessary evil
for MatLab efficiency, as MatLab has no facility to avoid
gratuitous memory allocation and copying when passing
(and modifying) variables between functions. With this
concession, effort has been made to keep the code as
clean and modular as possible.
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