samkhan27 / slam-optim-matlab Goto Github PK
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Automatically exported from code.google.com/p/slam-optim-matlab
The SAMToolbox implements the SAM and iSAM metrods from the papers: Square Root SAM: SLAM via Square Root Information Smoothing, F. Dellaert and M. Kaess, IJRR, 2006 iSAM: Incremental Smoothing and Mapping, M. Kaess, A. Ranganathan, and F. Dellaert, IEEE TRO, 2008 The toolbox requires Tim Davis SuiteSparse toolbox which can be downloaded from here: http://www.cise.ufl.edu/research/sparse/SuiteSparse/' Download and install the toolbox before using the toolbox. Run startup.m before running any other script from the toolbox. The dataset must be in .graph format. See examples in ./Data Run ./Tests/testNonlinearOptimization.m to get familiar with the toolbox. Set the flag "incremental" to process the data incremental. You can also change the Solver and Plot options. For any questions contact: [email protected] Enjoy!!!
How do I account for obstacle avoidance within my map in this toolbox? I have a robot motion model (rmm), a sensor observation model (som), and a target motion model (tmm). What is the general idea behind obstacle avoidance here?
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