xiaoshitou4/2D-SCLAM

The synthesis of the problem has been addressed using factor graph least squares formulation. pose-landmark constraints using 2D landmark measurements and 2D pose-pose constraints using odometery ticks are considered. This has being done simultaneously while refining the estimation of the odometry parameters K of the mobile robot; K l , K r and b which are the raduis of robot’s left and right wheels and the baseline between the center of the the 2 wheels respectively.

MATLAB