ekfslam_v1.0
所属分类：人工智能/神经网络/深度学习
开发工具：matlab
文件大小：22KB
下载次数：338
上传日期：2008-02-28 21:04:20
上 传 者：
meteor_lw
说明： SLAM实时定位与地图创建,采用扩展卡尔曼滤波器,实现机器人定位与地图绘制
(SLAM to create real-time localization and mapping using extended Kalman filter, the realization of robot positioning and mapping)
文件列表:
add_control_noise.m (277, 2004-03-25)
add_observation_noise.m (343, 2004-03-25)
augment.m (1101, 2004-03-25)
augment_associate_known.m (490, 2004-03-25)
compute_steering.m (1140, 2004-03-25)
configfile.m (2046, 2004-03-26)
data_associate.m (1557, 2004-03-25)
data_associate_known.m (879, 2004-03-25)
ekfslam_sim.m (6670, 2004-03-26)
example_webmap.mat (1072, 2004-03-26)
frontend.fig (54416, 2004-02-16)
frontend.m (5629, 2004-03-26)
get_observations.m (1378, 2004-03-25)
KF_cholesky_update.m (611, 2004-03-08)
KF_IEKF_update.m (1470, 2004-03-26)
KF_simple_update.m (632, 2004-02-13)
line_plot_conversion.m (827, 2004-02-13)
observe_heading.m (417, 2004-03-25)
observe_model.m (838, 2004-03-25)
pi_to_pi.m (239, 2004-02-13)
plot_feature_loci.m (586, 2004-03-26)
predict.m (852, 2004-03-16)
TransformToGlobal.m (433, 2004-03-25)
update.m (1125, 2004-03-25)
update_iekf.m (1045, 2004-03-25)
vehicle_model.m (340, 2004-03-25)
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.
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