In this paper we present an estimation platform with simulation capabilities to evaluate methods for localisation of a mobile robot using a feature map. The platform is based on the Kalmtool 4 toolbox which is a set of MATLAB tools for state estimation of nonlinear systems. The toolbox contains functions for extended Kalman filtering as well as for the DD1 filter and the DD2 filter. It also contains functions for Unscented Kalman filters as well as three versions of particle filters. The toolbox requires MATLAB version 7, but no additional toolboxes are required.
|Title of host publication||Proceeding of 15th IFAC Symposium on System Identification, SYSID 2009|
|Publication status||Published - 2009|
|Event||15th IFAC Symposium on System Identification (SYSID 2009) - Saint-Malo, France|
Duration: 6 Jul 2009 → 8 Jul 2009
Conference number: 15
|Conference||15th IFAC Symposium on System Identification (SYSID 2009)|
|Period||06/07/2009 → 08/07/2009|