Simultanuous Location and Mapping - A Simulation Platform

Thomas Hanefeld Sejerøe; Ole Ravn; Niels Kjølstad Poulsen

Simultanuous Location and Mapping - A Simulation Platform

Thomas Hanefeld Sejerøe, Ole Ravn, Niels Kjølstad Poulsen

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Abstract

In this paper we present a simulation platform for evaluate methods for simultaneous location and mapping. The platfor is based on The KALMTOOL 2 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 language	English

Publication status	Published - 2005

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