https://github.com/RomaTeng/EKF-SLAM-on-Manifold
Revision fac5b580ee999508d9a136e397e41e773e1925c7 authored by Teng Zhang on 14 September 2016, 16:52:20 UTC, committed by GitHub on 14 September 2016, 16:52:20 UTC
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Tip revision: fac5b580ee999508d9a136e397e41e773e1925c7 authored by Teng Zhang on 14 September 2016, 16:52:20 UTC
Update README.md
Update README.md
Tip revision: fac5b58
README.md
# EKF-SLAM-on-Manifold
------------------------
This is a joint work by Teng Zhang, Jingwei Song, [Kanzhi Wu](kanzhi.me) and Shoudong Huang.
The document includes the supplementary for the paper "convergence and consistency for a Lie group based 3D EKF SLAM".
__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
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