EKF-SLAM TOOLBOX FOR MATLAB
Upgrade 2012/04/22: Added support for
Omni-directional cameras for ahmPnt and eucPnt points.
2011/09/03 to 2011/09/08: a
bug in the package released between these 5 days caused
the toolbox to
completely fail. Download the current version below.
2010/09/04: BUG FIX:
Corrected bug in code for
just want the bug fix, click here.
Toolbox versions after
This toolbox performs 6DOF SLAM using the classical EKF
It is conceived as an "active-search" SLAM. It is provided for free
under the GPL license (please read the file COPYING and make sure
agree in the terms and conditions before using it).
Users employing the toolbox for
scientific research should cite in their scientific communications
of the papers of
the authors (especially SOLA-ETAL-IJCV-11,
- Download the
- Please email me with
feedback, I will appreciate.
- Read the pdf
have an idea.
- Full 6DOF.
- Points and lines, with many different parametrizations.
paper on landmark parametrization.
- 3D graphics.
- Works with any number of robots and sensors.
- Monocular and stereo systems are treated alike.
- Supports extrinsic self-calibration of multi-camera rigs
as in our TRO'08
- The toolbox supports undelayed
the following landmark types:
: Anchored homogeneous
points. See video.
equivalently to Inverse-depth
in filter consistency.
: Inverse-Depth points,
Euclidean points (eucPnt) after
confirming linearity. This follows Civera's TRO-08 paper on
Inverse-depth parametrization. See video. Also
Anchored Modified-polar points (AMPP) in SOLA-IJCV'11.
: Homogeneous points.
: Framed Homogeneous points.
We follow a
work by Simone Ceriani et.
: Plucker lines as
in our IROS-09
: Anchored Plucker lines.
: Inverse-depth points lines.
called Anchored Modified-polar points lines (AMPPL) in SOLA-IJCV'11.
: Homogeneous-points lines.
- See this video
idpPnt against ahmPnt and hmgPnt points,
superior consistency of idpPnt
because of over-estimation of the covariance in hmgPnt. (note:
video, hmgPnt is
labeled HP, ahmPnt is AHP, and idpPnt is AMPP.)
- See this video
BUG (fixed in
toolbox releases after 2011/09/08): The
Jacobians of the idpPnt
initialization function were incorrect. This derived in a poor
performance of idpPnt
Now, idpPnt and ahmPnt show equivalent
follow these simple steps:
- Download this
- Copy files idp2ahp.m
- Copy file retroProjIdpPntFromPinHoleOnRob.m
- Delete the obsolete bugged file %SLAMTB/Points/idpS2idpW.m