CEKF-SLAM is a Compressed Extended Kalman Filter-based SLAM simulator
written under Matlab.
Long Description
CEKF-SLAM was originally proposed by Jose Guivant and Eduardo Net. This
algorithm reduces the computational complexity by dividing the system
state vector into two parts: the active local state vector and the others.
Only the local state vector is updated for each step by EKF, and the
necessary information for updating the other states is compressed into
some auxiliary cofficient matrices. When the local area changes, a full
update was executed to get the same estimation results as EKF.
Example Images
CEKF-SLAM overview and partial zooms
Type of Map
feature maps
Hardware/Software Requirements
Matlab
Papers Describing the Approach
Jose Guivant and Eduardo Nebot:
Optimization of the Simultaneous Localization and Map Building Algorithm for Real Time Implementation,
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2001
License Information
This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
The authors allow the users of OpenSLAM.org to use and modify the source code for their own research. Any commercial application, redistribution, etc has to be arranged between users and authors individually and is not covered by OpenSLAM.org.
