文件列表:

predict_true.m (172, 2004-07-02)
resample_particles.m (546, 2004-07-19)
sqrtm_2by2.m (757, 2004-07-19)
stratified_random.m (337, 2003-12-05)
stratified_resample.m (567, 2004-03-02)
TransformToGlobal.m (433, 2004-07-02)
fastslam1\compute_weight.m (295, 2004-03-02)
fastslam1\fastslam1_sim.m (5796, 2006-02-15)
fastslam1\predict.m (359, 2004-07-19)
fastslam1 (0, 2006-02-15)
fastslam2\compute_weight.m (120, 2006-02-16)
fastslam2\fastslam2_sim.m (6479, 2006-02-16)
fastslam2\gauss_evaluate.m (1134, 2005-10-18)
fastslam2\observe_heading.m (323, 2004-03-01)
fastslam2\predict.m (981, 2004-06-07)
fastslam2\proposal.mws (11047, 2004-03-01)
fastslam2\sample_proposal.m (1490, 2006-02-17)
fastslam2 (0, 2006-02-16)
fastslam2r\compute_weightr.m (580, 2006-02-16)
fastslam2r\fastslam2r_sim.m (6737, 2006-02-16)
fastslam2r\observe_heading.m (323, 2004-03-01)
fastslam2r\predict.m (981, 2004-06-07)
fastslam2r\sample_proposal.m (739, 2004-07-02)
fastslam2r (0, 2006-02-22)
example_webmap.mat (1072, 2004-03-26)
frontend.fig (54416, 2004-02-16)
add_control_noise.m (321, 2004-07-02)
add_feature.m (483, 2004-03-03)
add_observation_noise.m (289, 2004-02-23)
compute_jacobians.m (660, 2004-07-19)
compute_steering.m (977, 2004-07-02)
configfile.m (1571, 2006-02-17)
data_associate_known.m (486, 2004-03-01)
fast_to_ekf_diag.m (1093, 2004-06-11)
feature_update.m (667, 2004-07-02)
frontend.m (5629, 2004-03-26)
get_observations.m (1025, 2004-06-18)
KF_cholesky_update.m (611, 2004-03-08)
... ...

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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