https://github.com/RomaTeng/EKF-SLAM-on-Manifold
Tip revision: 12d7d8d88c84161baed173e38d49dedb4adb2b96 authored by Teng Zhang on 26 February 2017, 15:09:17 UTC
Record my control paper
Record my control paper
Tip revision: 12d7d8d
README.md
# EKF-SLAM-on-Manifold
------------------------
This is a joint work by Teng Zhang, [Kanzhi Wu](kanzhi.me), Shoudong Huang and Gamini Dissanayake.
The document is the paper "Convergence and Consistency for A 3D Invariant-EKF SLAM".
Fortunately, this paper has been accepted by Robotics and Automation Letters.
__This repository is for code release only!__
__Under construction__
__This repository is for R-EKF(right_ekf_3d), FEJ-EKF(f_ekf_3d) and T-EKF(ekf_3d) code ONLY__
Simulation settings can be tuned into "./datagen_3d":
(1) simulated trajectory: gen_trajectory.m
(2) noise level, number of landmarks, FOV: config.m
If you want to test a simple case:
for example,
(1) run "./datagen_3d/gen_data.m" to generate "data.mat"(all measurements and ground truth)
(2) copy this "data.mat" into the foler "./right_ekf_3d.m" or "./f_ekf_3d.m" or "./ekf_3d.m"
(3) run "REKF_SLAM.m" or "FEKF_SLAM.m" or "EKF_SLAM.m" and get the simulation test
If you want to test a simple test for three filters:
for example,
(1) run "./comparison_3d.m" and the comparsion will be displayed
If you want to perform Monte Carlo test for three filters:
for example,
(1) run "./multi_comparison_3d.m" and the comparsion will be displayed