A Simulation Platform for Localization and Mapping

Thomas Hanefeld Sejerøe, Niels Kjølstad Poulsen, Ole Ravn

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Abstract

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
Pages937-942
Publication statusPublished - 2006
EventIFAC SYSID 2006 in Newcastle, Australia - Newcastle, Australia
Duration: 1 Jan 2006 → …

Conference

ConferenceIFAC SYSID 2006 in Newcastle, Australia
CityNewcastle, Australia
Period01/01/2006 → …

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