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SLAM Toolbox
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SLAM Toolbox for Matlab. ======================== This git repository provides EKF-SLAM and graph-SLAM toolboxes. I. Copyright and license. ========================= (c) 2007, 2008, 2009, 2010 Joan Sola @ LAAS-CNRS; (c) 2010, 2011, 2012, 2013 Joan Sola (c) 2014, 2015, 2016--2018 Joan Sola @ IRI-UPC-CSIC; (c) 2009 Joan Sola, David Marquez, Jean Marie Codol, Aurelien Gonzalez and Teresa Vidal-Calleja, @ LAAS-CNRS; (c) 2018 Marija Popovic @ ETH, thanks for the ellipse drawing in graph SLAM 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. ================================== To make it work, (1) open a terminal (for example, a linux terminal) and (2) start Matlab. Then follow these steps: To use EKF-SLAM ------------------- A. In the [Linux / MacOSX] terminal: A.1. Get the source code, git clone git://github.com/joansola/slamtb.git A.2. Go to the toolbox cd slamtb A.3. Select the EKF-SLAM project. git checkout ekf B. In the Matlab command window: B.1. Go to the toolbox >> cd slamtb B.2. Add all subdirectories in slamtb/ to your Matlab path using the provided script: >> slamrc B.3. Edit user data file, and enter the data of your experiment. >> edit userData.m. B.4. Run the main script >> slamtb. B.5. To develop methods, read first slamToolbox.pdf and guidelines.pdf. To use graph-SLAM ------------------- A. In the [Linux / MacOSX] terminal: A.1. Get the source code, git clone git://github.com/joansola/slamtb.git A.2. Go to the toolbox cd slamtb A.3. Select the graph-SLAM project. git checkout graph B. In the Matlab prompt: B.1. Go to the toolbox >> cd slamtb B.2. Add all subdirectories in slamtb/ to your Matlab path using the provided script: >> slamrc B.3. Edit user data file, and enter the data of your experiment. >> edit userDataGraph.m B.4. Run the main script >> slamtb_graph B.5. To develop methods, read first slamToolbox.pdf and guidelines.pdf. For graph-SLAM, read also courseSLAM.pdf. Enjoy!
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