https://github.com/RomaTeng/EKF-SLAM-on-Manifold
Revision 14ede7f8e67c75599d6df1489e01a8be320874e4 authored by Kanzhi Wu on 23 June 2016, 10:39:47 UTC, committed by Kanzhi Wu on 23 June 2016, 10:39:47 UTC
1 parent 2ef5ac4
Tip revision: 14ede7f8e67c75599d6df1489e01a8be320874e4 authored by Kanzhi Wu on 23 June 2016, 10:39:47 UTC
update code, comparison liekf, ekf
update code, comparison liekf, ekf
Tip revision: 14ede7f
comparison_3d.m
% comparison of following methods in 3D environment
% - left IEKF-SLAM
% - EKF-SLAM
% - ideal EKF-SLAM
clear;
clc;
close all;
% add directories
addpath('datagen_3d/');
addpath('left_iekf_3d/');
addpath('lie_utils/');
addpath('ekf_3d/');
% generate simulation data
% data = gen_data();
load('data');
nposes = size(data.poses.position, 2);
nlandmarks = size(data.landmarks, 1);
fprintf('Generate %d poses and %d landmarks\n', nposes, nlandmarks);
% left iekf-slam
LIEKF_result = LIEKF_SLAM( data );
LIEKF_plot_estimation( LIEKF_result, data );
% ekf-slam
EKF_result = EKF_SLAM( data );
EKF_plot_estimation( EKF_result, data );
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