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ekfslam_v1.0

于 2012-05-21 发布文件大小:13495KB

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通过采用ekf算法来实现SLAM，对比了真实值与采用算法后计算结果，说明程序的可行性。(EKF-SLAM Simulator ------------------ 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. Tim Bailey and Juan Nieto 2004. )

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