zefengye / ekf_slam Goto Github PK

To watch the video, please click on the picture below!

This simulator demonstrates a simple implementation of standard EKF-SLAM. It permits simple configuration via 'configfile.m' to perform SLAM with various control parameters, noises, etc. Also various switches are available to choose known data-association versus gating, etc.

The key file in this simulator is called 'ekfslam_sim.m'. Type 'help ekfslam_sim' for more information of how to use it.

In addition to on-line animations, the simulator returns a data-structure of the logged state information for off-line processing. An example use of this data is shown in m-file 'plot_feature_loci.m', which plots the trajectories of the landmark estimates.

From the homework of probabilistic robot course

Open matlab and enter the following two commands on the command line:

load('example_webmap.mat')

ekfslam_sim(lm,wp)