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ocekf-slam's Introduction

OC-EKF SLAM

Observability-Constrained (OC)-EKF for 2D SLAM

Reference

Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, Observability-based Rules for Designing Consistent EKF SLAM Estimators, International Journal of Robotics Research, vol. 29, no. 5, pp. 502-528, April 2010.

Notes

  • Change simulation parameters in the main script (main.m) as needed
  • Run main.m

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ocekf-slam's Issues

propagate_ocekf_1.m has wrong function name in the file

In propagate_ocekf_1.m line 2 the function name is incorrect, at current it is propagate_ocekf instead of propagate_ocekf_1.

function [xe, Pe, PHI,G,PHI_mult, xR_k_k1,dpR_star_prev,pR_star_prev,lambda] = ...
    propagate_ocekf(xe,Pe,dt,v_m,omega_m,sigma_v,sigma_w, PHI_mult, xR_k_k1,dpR_star_prev,pR_star_prev,xL_1,lambda, lm_seq,z)

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