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Observability-Constrained (OC)-EKF for 2D SLAM

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Givens.m
Givens.m
 
 
README.md
README.md
 
 
cal_kld.m
cal_kld.m
 
 
compute_Q.m
compute_Q.m
 
 
gen_map.m
gen_map.m
 
 
get_Ri.m
get_Ri.m
 
 
isspd.m
isspd.m
 
 
main.m
main.m
 
 
measurement_model_fej.m
measurement_model_fej.m
 
 
measurement_model_id.m
measurement_model_id.m
 
 
measurement_model_ocekf_1.m
measurement_model_ocekf_1.m
 
 
measurement_model_std.m
measurement_model_std.m
 
 
pi_to_pi.m
pi_to_pi.m
 
 
plot_all.m
plot_all.m
 
 
propagate_fej.m
propagate_fej.m
 
 
propagate_id.m
propagate_id.m
 
 
propagate_ocekf_1.m
propagate_ocekf_1.m
 
 
propagate_std.m
propagate_std.m
 
 
randstates.mat
randstates.mat
 
 
repvec.m
repvec.m
 
 
rws.m
rws.m
 
 
setdiff_ns.m
setdiff_ns.m
 
 
update_fej.m
update_fej.m
 
 
update_id.m
update_id.m
 
 
update_ocekf_1.m
update_ocekf_1.m
 
 
update_std.m
update_std.m
 
 

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OC-EKF SLAM

Observability-Constrained (OC)-EKF for 2D SLAM

Reference

Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, Observability-based Rules for Designing Consistent EKF SLAM Estimators, International Journal of Robotics Research, vol. 29, no. 5, pp. 502-528, April 2010.

Notes

  • Change simulation parameters in the main script (main.m) as needed
  • Run main.m

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Observability-Constrained (OC)-EKF for 2D SLAM

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robotics slam ekf ocekf observability-constrained

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