A Simulation Platform for Localization and Mapping

Thomas Hanefeld Sejerøe, Niels Kjølstad Poulsen, Ole Ravn

    Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

    311 Downloads (Pure)


    In this paper we present a simulation platform for evaluate methods for simultaneous location and mapping. The platform is based on The Kalmtool 3 toolbox which is a set of MATLAB tools for state estimation for nonlinear systems. The toolbox contains functions for extended Kalman filtering as well as for two new filters called the DD1 filter and the DD2 filter. It also contains function for Uncented Kalman filters as well as three versions of particle filters. The toolbox requires MATLAB ver. 6, but no additional toolboxes are required.
    Original languageEnglish
    Title of host publicationIFAC SYSID 2006 in Newcastle, Australia
    Publication date2006
    Publication statusPublished - 2006
    Event14th IFAC Symposium on Identification and System Parameter Estimation - Newcastle, Australia
    Duration: 29 Mar 200631 Mar 2006
    Conference number: 14


    Conference14th IFAC Symposium on Identification and System Parameter Estimation
    Internet address

    Cite this