SLAM Toolbox for Matlab.
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This git repository provides EKF-SLAM and graph-SLAM toolboxes.
I. Copyright and license.
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(c) 2007, 2008, 2009, 2010 Joan Sola @ LAAS-CNRS;
(c) 2010, 2011, 2012, 2013 Joan Sola
(c) 2014, 2015, 2016 Joan Sola @ IRI-UPC-CSIC;
(c) 2009 Joan Sola, David Marquez, Jean Marie Codol,
Aurelien Gonzalez and Teresa Vidal-Calleja, @ LAAS-CNRS;
Maintained by Joan Sola
Please write feedback, suggestions and bugs to:
jsola@iri.upc.edu
or use the GitHub web tools.
Published under GPL license. See COPYING.txt.
II. Giving credit
=================
In addition to the GPL license, users should consider, in their scientific
communications :
A. acknowledging the use of this toolbox.
B. citing one of the papers of the authors:
- SOLA-ETAL-IJCV-11 "Impact of landmark parametrization on monocular EKF-SLAM with points and lines"
- SOLA-ETAL-IROS-09 "Undelayed initialization of line segments in monocular SLAM"
- SOLA-ETAL-TRO-08 "Fusing monocular information in multi-camera SLAM"
- SOLA-ETAL-IROS-05 "Undelayed initialization in bearing only SLAM"
appearing in the References section in the documentation.
III. Installation and quick usage.
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To make it work, start Matlab and follow these steps:
A. In the terminal:
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1. Get the source code,
git clone git://github.com/joansola/slamtb.git
2. Go to the toolbox
cd slamtb
3. Select the correct project.
3a. For EKF SLAM toolbox:
git checkout master
3b. For graph-SLAM toolbox
git checkout graph
B. In the Matlab prompt:
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1. Go to the toolbox
>> cd slamtb
2. Add all subdirectories in slamtb/ to your Matlab path using the provided script:
>> slamrc
3. Edit user data file, and enter the data of your experiment.
3a. For EKF-SLAM, edit userData.m.
3b. For graph-SLAM, edit userDataGraph.m
4. Run the main script
4a. For EKF-SLAM,
>> slamtb.
4b. For graph-SLAM
>> slamtb_graph
5. To develop methods, read first slamToolbox.pdf and guidelines.pdf.
For graph-SLAM, read also courseSLAM.pdf.
Enjoy!