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Report

Simultanuous Location and Mapping - A Simulation Platform

By Sejerøe, Thomas Hanefeld; Ravn, Ole1; Poulsen, Niels Kjølstad2,3

From

Department of Electrical Engineering, Technical University of Denmark1

Mathematical Statistics, Department of Informatics and Mathematical Modeling, Technical University of Denmark2

Department of Informatics and Mathematical Modeling, Technical University of Denmark3

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.

Language: English
Year: 2005
Types: Report
ORCIDs: Ravn, Ole and Poulsen, Niels Kjølstad

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