rzkk / FS-SLAM

Implementation of the accepted paper "2D Laser SLAM with Closed Shape Features: Fourier Series Parameterization and Submap Joining"

FSSLAM

This repository is the code for paper 2D Laser SLAM with Closed Shape Features: Fourier Series Parameterization and Submap Joining which is published on RA-L / ICRA 2021.

Author: Jiaheng Zhao, Tiancheng Li, Tong Yang, Liang Zhao, and Shoudong Huang

The simulated data is generated by the code here.

Language

• Matlab

How to use

1. Add to searching path / Remove searching path

Execute startup to add path before running.

Execute clearfolder to remove path.

2. Test FS-SLAM

Run fsSLAM to run submap joining.

3. Test Submap Joining

Run fsSLAMJoining to run submap joining.

Cite

Thank you for citing our paper if it inspires you somehow.

@article{zhao20212d,
  title={2D Laser SLAM With Closed Shape Features: Fourier Series Parameterization and Submap Joining},
  author={Zhao, Jiaheng and Li, Tiancheng and Yang, Tong and Zhao, Liang and Huang, Shoudong},
  journal={IEEE Robotics and Automation Letters},
  volume={6},
  number={2},
  pages={1527--1534},
  year={2021},
  publisher={IEEE}
}