Invariant-EKF for 2D SLAM
A. Barrau and S. Bonnabel. An EKF-SLAM algorithm with consistency properties. Submitted to IEEE Trans. on Robotics. Arxiv preprint https://arxiv.org/abs/1510.06263
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.
- Based on the OC-EKF Matlab code of Prof. Guoquang Huang
- To add iSAM, you can dowload it and obtain install instructions at: https://people.csail.mit.edu/kaess/isam/doc/index.html
- Change simulation parameters in the main script (main.m) as needed both for simulation and real data
- Run main.m