EKF-SLAM Simulator (version 2.0) ------------------ 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.

CodeSLAM
........\augment_associate_known.m
........\frontend.fig
........\sqrtm_2by2.m
........\example_densemap.mat
........\example_linemap.mat
........\KF_cholesky_update.m
........\transformtoglobal.m
........\update.m
........\observe_heading.m
........\plot_feature_loci.m
........\frontend.m
........\ekfslam_sim.m
........\pi_to_pi.m
........\KF_simple_update.m
........\update_iekf.m
........\data_associate_known.m
........\get_observations.m
........\add_observation_noise.m
........\data_associate.m
........\KF_IEKF_update.m
........\TD-map.mat
........\predict.m
........\vehicle_model.m
........\augment.m
........\readme.txt
........\add_control_noise.m
........\configfile.m
........\observe_model.m
........\compute_steering.m
........\line_plot_conversion.m

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