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MATLAB SLAM simulations --EKF,UKF,GRAPH SLAM

Simulates 2D EKF,UKF,and graph-based SLAM.

The folder "slam_code" and "slam_code_2wheel_model" uses different motion model for simulation

Setups: The simulation generated a 2D map with a number of landmarks. The 2D Laser scan is simulated as distance+noise The simulated robot run in a circuler motion

SLAM: EKF, and UKF SLAM are run for landmark mapping and robot localization. After that, Graph-based optimization run on the result from EKF and UKF SLAM. For the Graph SLAM, constrains are added between every step and loop-closure constrains are randomly generated

run kf_tb.m to start the program

Media1.mp4

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