EKF-SLAM Simulator (version 2.0)

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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.-EKF-SLAM Simulator (version 2.0)

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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.