This program is a pure C++ implementation of FastSLAM 1 and 2. It also integrated a GUI interface which draw current states and observations.

The source is based on yglee source code (https://github.com/yglee/FastSLAM), and orignal FastSLAM (http://www-personal.acfr.usyd.edu.au/tbailey/software/slam_simulations.htm) . We add Qt GUI and also fixed some bugs from yglee's implementation.

• Eigen3 ( sudo apt-get install libeigen3-dev)
• Qt4 (sudo apt-get install libqt4-core libqt4-dev)
• QCustomPlot (included, webpage: http://www.workslikeclockwork.com/)

make

./fastslam.e
    -m                  [s] input map file name
    -mode               [s] runing mode
        waypoints   : following given waypoints
        interactive : use keyboard to control movement
    -method             [s] SLAM method
        EKF1        : EKF SLAM 1
        FAST1       : FastSLAM 1
        FAST2       : FastSLAM 2
    -h  (print usage)

examples:

./fastslam.e -method FAST1 -mode interactive (FastSLAM 1, user interactive)

./fastslam.e -method FAST2 -mode waypoints -m data/example_webmap.mat (FastSLAM 2, following waypoints, map is "example_webmap.mat")

./fastslam.e -method EKF1 -mode waypoints -m data/example_loop1.mat (EKF SLAM, following waypoints, map is "example_loop1.mat")

Only test on Ubuntu 10.04 64-bit.

• Low performance (Even worse than Matlab version)
• Crash occurs when zooming or moving plot (occasionally)

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http://www.adv-ci.com/blog/source/fastslam-gui/