/6dof_stereo_ekf_slam

6 DOF Stereo Visual EKF Slam

Primary LanguageMATLAB

6 DOF EKF SLAM in Underwater Environments

  • Correcting visual odometry by the usage of an EKF SLAM approach
  • Full 3D Frame Composition with six degrees of freedom
  • Usage of Quaternions to represent the orientation
  • Jacobian Matrices
  • A lot of Utilization-Function
  • Simple Simulator
  • Written in Matlab (Usage of only One CPU Core)

Prerequisite

  • OpenCV (>=2.4.0)
  • mexopencv [1]

Install

  • add all subfolder to matlab paths
  • run ekfMain.m

My Setup

  • Ubuntu 12.04
  • Matlab R2013a
  • OpenCV 2.4.9
  • MEXOpenCV

[1] https://github.com/kyamagu/mexopencv