Overview
========
SLAM simulator in MATLAB that uses a graphical interface for visualisation and allows manual mapping of rooms and obstacles.
For example videos of the software and further information, please visit:
www.jaijuneja.com/blog/2013/05/simultaneous-localisation-mapping-matlab/
Copyright Info
=============
This software was written and developed by Jai Juneja as part of an undergraduate project in the Department of Engineering Science, University of Oxford. If you have any questions, I can be contacted at:
jai.juneja@balliol.ox.ac.uk or jai.juneja@gmail.com
Please feel free to use, modify and distribute the software for personal or research purposes, along with acknowledgement of the author and inclusion of this copyright information.
Some of the code included has been adapted from other software. They are acknowledged as follows:
* Code for Jacobian transformations was adapted from a SLAM course by Joan Sola (http://www.joansola.eu/JoanSola/eng/course.html)
* ICP algorithm in doICP.m was adapted from code written by Ajmal Saeed Mian (relevant copyright informtion included in the file).
* Any 3rd party code that has been untouched is in the folder 3rd-party
Instructions
============
1. Navigate to the root folder and run setup.m (you can just type 'setup' in the command window).
2. The GUI should open up. There are a number of available maps saved as .mat files in the root folder that can be loaded, or alternatively you can create your own map.
3. When ready, click 'Execute SLAM Simulation'. You can save the resulting grid map as a matrix in a .mat file (along with the map resolution) or a .tiff image.
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A Simultaneous Localisation and Mapping simulation in MATLAB.zip
共48个文件
m:30个
mat:11个
fig:2个
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A Simultaneous Localisation and Mapping simulation in MATLAB
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A Simultaneous Localisation and Mapping simulation in MATLAB.zip (48个子文件)
新建文本文档.txt 0B
ekf-slam-matlab-master
tools
getInvMeasurement.m 923B
transformPoints.m 239B
getIntersection.m 2KB
getMeasurement.m 488B
invScanPoint.m 1KB
doMapping.m 3KB
removeDuplicateLasers.m 810B
transToGlobal.m 1KB
pointToLine.m 460B
getPiToPi.m 215B
initGraphics.m 2KB
transToLocal.m 1KB
doICP.m 5KB
doGraphics.m 2KB
bearingToPoint.m 97B
scanPoint.m 1KB
getICPCovariance.m 269B
doMapping_old.m 2KB
mapMakerGUI.m 23KB
sample-maps
map_largefloor.mat 2KB
map_windycorridor.mat 1KB
map_movement.mat 1016B
map_bedroom.mat 996B
map_corridor.mat 674B
Obstacle.m 5KB
Sensor.m 2KB
ekfSLAM.m 15KB
3rd-party
cov2elli.m 2KB
ginputax.m 10KB
tests
corner.mat 646B
getSaliency.m 2KB
scanTest.fig 8KB
corridor.mat 674B
obstacles.mat 711B
testICP.m 2KB
medFilterScan.m 2KB
arbitrary.mat 714B
getSaliency.asv 2KB
circular.mat 904B
medFilterScan.mat 1KB
gridmap.tiff 7KB
setup.m 710B
.gitignore 9B
Robot.m 6KB
README.md 2KB
configuration.m 3KB
mapMakerGUI.fig 15KB
共 48 条
- 1
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