This repo containt the Matlab code for reproducing the results of the paper Exploiting Symmetries to Design EKFs with Consistency Properties for Navigation and SLAM. Please follow the links to read the IEEE paper.

The Matlab code of the Section Simulation Results is available in the folder simulations. The code is based on the two following references.

• Axel Barrau and Silvère Bonnabel. An EKF-SLAM algorithm with consistency properties, April 2015. Arxiv preprint
• Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, Observability-based Rules for Designing Consistent EKF SLAM Estimators, The International Journal of Robotics Research, vol. 29, no. 5, pp. 502-528, April 2010. IJRR Online

Notes:

• The code is based on the OC-EKF Matlab code of Prof. Guoquang Huang
• You can add iSAM results after installing it by following instructions at: iSAM website
• You can simulation parameters in the main script (main.m) as needed
• Run main.m for Monte-Carlo simulations and plots

The Matlab code for the Section Experimental Results is available in folder experiments. The dataset is described in the following reference.

• Keith YK Leung, Yoni Halpern, Timothy D Barfoot, Hugh HT Liu, The UTIAS Multi-Robot Cooperative Localization and Mapping Dataset The International Journal of Robotics Research, Vol. 30, No. 8, pp 969-974, March 2011 IJRR Online Website

Notes:

• We use the Matlab scripts tools that are provided for the convenience of UTIAS dataset users (loadMRCLAMdataSet.m, sampleMRCLAMdataSet.m, animateMRCLAMdataSet.m)
• You can dowload data at http://asrl.utias.utoronto.ca/datasets/mrclam/ and then extract data in the folder experiments
• Run main.m

If you find this code useful for your research, please consider citing the following paper:

@Article{brossard2018exploiting,
 	author={M. Brossard and A. Barrau and S. Bonnabel},
	journal={IEEE Sensors Journal},
	title={Exploiting Symmetries to Design EKFs With Consistency Properties for Navigation and SLAM},
	year={2019},
	volume={19},
	number={4},
	pages={1572-1579}
	}

For academic usage, the code is released under the permissive MIT license.

We thank Guoquan Paul Huang of University of Delaware for sharing his code of OC-EKF.