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SLAM Toolbox
License: GNU General Public License v3.0
This project forked from joansola/slamtb
SLAM Toolbox
License: GNU General Public License v3.0
SLAM Toolbox for Matlab. ======================== This git repository provides EKF-SLAM and graph-SLAM toolboxes. I. Copyright and license. ========================= (c) 2007, 2008, 2009, 2010 Joan Sola @ LAAS-CNRS; (c) 2010, 2011, 2012, 2013 Joan Sola (c) 2014, 2015, 2016 Joan Sola @ IRI-UPC-CSIC; (c) 2009 Joan Sola, David Marquez, Jean Marie Codol, Aurelien Gonzalez and Teresa Vidal-Calleja, @ LAAS-CNRS; Maintained by Joan Sola Please write feedback, suggestions and bugs to: [email protected] or use the GitHub web tools. Published under GPL license. See COPYING.txt. II. Giving credit ================= In addition to the GPL license, users should consider, in their scientific communications : A. acknowledging the use of this toolbox. B. citing one of the papers of the authors: - SOLA-ETAL-IJCV-11 "Impact of landmark parametrization on monocular EKF-SLAM with points and lines" - SOLA-ETAL-IROS-09 "Undelayed initialization of line segments in monocular SLAM" - SOLA-ETAL-TRO-08 "Fusing monocular information in multi-camera SLAM" - SOLA-ETAL-IROS-05 "Undelayed initialization in bearing only SLAM" appearing in the References section in the documentation. III. Installation and quick usage. ================================== To make it work, start Matlab and follow these steps: A. In the terminal: ------------------- 1. Get the source code, git clone git://github.com/joansola/slamtb.git 2. Go to the toolbox cd slamtb 3. Select the correct project. 3a. For EKF SLAM toolbox: git checkout master 3b. For graph-SLAM toolbox git checkout graph B. In the Matlab prompt: ------------------------ 1. Go to the toolbox >> cd slamtb 2. Add all subdirectories in slamtb/ to your Matlab path using the provided script: >> slamrc 3. Edit user data file, and enter the data of your experiment. 3a. For EKF-SLAM, edit userData.m. 3b. For graph-SLAM, edit userDataGraph.m 4. Run the main script 4a. For EKF-SLAM, >> slamtb. 4b. For graph-SLAM >> slamtb_graph 5. To develop methods, read first slamToolbox.pdf and guidelines.pdf. For graph-SLAM, read also courseSLAM.pdf. Enjoy!
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