EKF-SLAM Simulator --- --- --- 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. Tim Bailey and Juan Nieto 2004.

ekfslam_v1.0\1.mat
............\actxlicense.m
............\add_control_noise.m
............\add_observation_noise.m
............\augment.m
............\augment_associate_known.m
............\compute_steering.m
............\configfile.m
............\data_associate.m
............\data_associate_known.m
............\ekfslam_sim.asv
............\ekfslam_sim.m
............\example_webmap.mat
............\frontend.fig
............\frontend.m
............\get_observations.m
............\KF_cholesky_update.m
............\KF_IEKF_update.m
............\KF_simple_update.m
............\line_plot_conversion.m
............\observe_heading.m
............\observe_model.m
............\pi_to_pi.m
............\plot_feature_loci.m
............\predict.m
............\readme.txt
............\TransformToGlobal.m
............\update.m
............\update_iekf.m
............\vehicle_model.m
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ekfslam_v1.0

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