OC-EKF SLAM

Observability-Constrained (OC)-EKF for 2D SLAM

Reference

Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, Observability-based Rules for Designing Consistent EKF SLAM Estimators, International Journal of Robotics Research, vol. 29, no. 5, pp. 502-528, April 2010.

Notes

Change simulation parameters in the main script (main.m) as needed
Run main.m

Name		Name	Last commit message	Last commit date
Latest commit History 8 Commits
Givens.m		Givens.m
README.md		README.md
cal_kld.m		cal_kld.m
compute_Q.m		compute_Q.m
gen_map.m		gen_map.m
get_Ri.m		get_Ri.m
isspd.m		isspd.m
main.m		main.m
measurement_model_fej.m		measurement_model_fej.m
measurement_model_id.m		measurement_model_id.m
measurement_model_ocekf_1.m		measurement_model_ocekf_1.m
measurement_model_std.m		measurement_model_std.m
pi_to_pi.m		pi_to_pi.m
plot_all.m		plot_all.m
propagate_fej.m		propagate_fej.m
propagate_id.m		propagate_id.m
propagate_ocekf_1.m		propagate_ocekf_1.m
propagate_std.m		propagate_std.m
randstates.mat		randstates.mat
repvec.m		repvec.m
rws.m		rws.m
setdiff_ns.m		setdiff_ns.m
update_fej.m		update_fej.m
update_id.m		update_id.m
update_ocekf_1.m		update_ocekf_1.m
update_std.m		update_std.m

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OC-EKF SLAM

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