EKF_monoSLAM_1pRANSAC

  一种将RANSAC和卡尔曼滤波结合起来的方法，仅适用一个点来进行判断，大大提高了速度。具体见README文件。(The method of RANSAC and Kalman filtering to combine, apply only to a point to be judged, greatly improving the speed. See in particular the README file.)

matlab_code
...........\@ekf_filter
...........\...........\display.m,1255,2010-05-27
...........\...........\ekf_filter.m,2479,2010-05-27
...........\...........\ekf_prediction.m,1438,2010-05-27
...........\...........\ekf_update.m,1450,2010-05-27
...........\...........\ekf_update_hi_inliers.m,1797,2010-05-27
...........\...........\ekf_update_iterated.m,1468,2010-05-27
...........\...........\ekf_update_li_inliers.m,1834,2016-11-16
...........\...........\extract_nu_and_S.m,1338,2010-05-27
...........\...........\get_H_predicted.m,1335,2010-05-27
...........\...........\get_measurements.m,1339,2010-05-27
...........\...........\get_predicted_measurements.m,1353,2010-05-27
...........\...........\get_p_k_k.m,1311,2010-05-27
...........\...........\get_p_k_km1.m,1319,2010-05-27
...........\...........\get_std_a.m,1311,2010-05-27
...........\...........\get_std_alpha.m,1327,2010-05-27
...........\...........\get_std_z.m,1311,2010-05-27
...........\...........\get_S_matching.m,1331,2010-05-27
...........\...........\get_S_predicted.m,1335,2010-05-27
...........\...........\get_x_k_k.m,1311,2010-05-27
...........\...........\get_x_k_km1.m,1319,2010-05-27
...........\...........\rescue_hi_inliers.m,2018,2010-05-27
...........\...........\set_p_k_k.m,1314,2010-05-27
...........\...........\set_std_a.m,1316,2010-05-27
...........\...........\set_std_alpha.m,1332,2010-05-27
...........\...........\set_x_k_k.m,1316,2010-05-27
...........\...........\update.m,2185,2016-11-16
...........\add_a_feature_covariance_inverse_depth.m,3064,2010-05-27
...........\add_features_inverse_depth.m,1753,2010-05-27
...........\add_feature_to_info_vector.m,3021,2010-05-27
...........\calculate_derivatives.m,2181,2010-05-27
...........\calculate_Hi_cartesian.m,5222,2010-05-27
...........\calculate_Hi_inverse_depth.m,5777,2010-05-27
...........\compute_hypothesis_support_fast.m,3679,2010-05-27
...........\count_matches_under_a_threshold.m,1643,2010-05-27
...........\crosscorr.m,2816,2010-05-27
...........\delete_a_feature.m,2114,2010-05-27
...........\delete_features.m,2459,2010-05-27
...........\dfv_by_dxv.m,4523,2010-05-27
...........\distort_fm.m,2344,2010-05-27
...........\distor_a_point.m,1887,2010-05-27
...........\dq3_by_dq1.m,1514,2010-05-27
...........\dq3_by_dq2.m,1492,2010-05-27
...........\dqbar_by_dq.m,1313,2010-05-27
...........\dqomegadt_by_domega.m,3532,2010-05-27
...........\dq_by_deuler.m,1834,2010-05-27
...........\draw_camera.m,1884,2010-05-27
...........\dRq_times_a_by_dq.m,2493,2010-05-27
...........\fast-matlab-src
...........\...............\example.m,401,2007-12-14
...........\...............\fast_corner_detect_10.m,164469,2007-12-14
...........\...............\fast_corner_detect_11.m,132321,2007-12-14
...........\...............\fast_corner_detect_12.m,126136,2007-12-14
...........\...............\fast_corner_detect_9.m,177871,2007-12-14
...........\...............\fast_nonmax.m,2828,2007-12-14
...........\...............\lab.pgm,221316,2007-12-14
...........\...............\htm" target=_blank>LICENSE,1500,2007-12-14
...........\...............\htm" target=_blank>README,1650,2007-12-14
...........\fig2avi.m,1711,2010-05-28
...........\figures
...........\func_Q.m,1789,2010-05-27
...........\fv.m,2108,2010-05-27
...........\F_Test_dg_dhd.m,1525,2010-05-27
...........\F_Test_dg_dxv.m,1523,2010-05-27
...........\F_Test_dhd_dhu.m,1486,2010-05-27
...........\F_Test_dhu_dhrl.m,1473,2010-05-27
...........\F_Test_dh_dxv.m,1506,2010-05-27
...........\F_Test_dh_dxv_newPar.m,1527,2010-05-27
...........\F_Test_dh_dy.m,1488,2010-05-27
...........\F_Test_dh_dy_newPar.m,1516,2010-05-27
...........\F_test_q2rpy.m,1422,2010-05-27
...........\F_test_rpy2q.m,1472,2010-05-27
...........\generate_random_6D_sphere.m,1763,2010-05-27
...........\generate_state_vector_pattern.m,2213,2010-05-27
...........\GPL.txt,32069,2010-05-26
...........\hinv.m,1790,2010-05-27
...........\hi_cartesian.m,2554,2010-05-27
...........\hi_inverse_depth.m,2671,2010-05-27
...........\hu.m,1532,2010-05-27
...........\initialize_a_feature.m,5126,2010-05-27
...........\initialize_cam.m,1743,2010-05-27
...........\initialize_features.m,1771,2010-05-27
...........\initialize_x_and_p.m,1785,2010-05-27
...........\inversedepth2cartesian.m,1651,2010-05-27
...........\inversedepth_2_cartesian.m,3813,2010-05-27
...........\jacob_distor_fm.m,1692,2010-05-27
...........\jacob_q2rpy.m,1542,2010-05-27
...........\jacob_rpy2q.m,1533,2010-05-27
...........\jacob_undistor_fm.m,2083,2010-05-27
...........\m.m,1597,2010-05-27
...........\map_management.m,2813,2010-05-27
...........\matching.m,4554,2010-05-27
...........\mono_slam.m,3905,2010-06-02
...........\normJac.m,1574,2010-05-27
...........\plots.m,5940,2010-05-27
...........\plotUncertainEllip2D.m,1639,2010-05-27
...........\plotUncertainEllip3D.m,2029,2010-05-27
...........\plotUncertainSurfaceXZ.m,2189,2010-05-27
...........\predict_camera_measurements.m,2057,2010-05-27