Application:2d-slam-demo

1. Description

This GUI application is an extension to a similar Matlab program developed by J. Neira and J. D. Tardós (University of Zaragoza). It allows extensive experimentation with data-association and the behavior of Kalman Filter-based 2D SLAM, in a didactic way. 

At the core of this program is just one MRPT class: mrpt::slam::CRangeBearingKFSLAM2D. Check out its Doxygen documentation for more details.

Paper explaining the Matching Likelihood criteron for data association (one of the two choices offered in this program):

• J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, "An alternative to the Mahalanobis distance for determining optimal correspondences in data association", IEEE Transactions on Robotics (T-RO), DOI: 10.1109/TRO.2012.2193706 (2012, In Press). (Bibtex, PDF)

2. Demo video

Also on YouTube: http://www.youtube.com/watch?v=IHGcW_DCaps

[jwplayer |file=/videos/2dslamdemo.flv |image=/videos/2dslamdemo.jpg |width=810 |height=590]

3. Command line options

Although this is mainly an interactive program with a GUI, it can be also invoked to run batch, non-interactive experiments. By invoking 2d-slam-demo --help you will obtain the list of accepted arguments:

USAGE: 
 
   2d-slam-demo  [-r] [-n] [-c ] [--] [--version] [-h]
 
 
Where: 
 
   -r,  --norun
     Just load the config file, don't run it.
 
   -n,  --nogui
     Don't stay in the GUI, exit after the experiment.
 
   -c ,  --config 
     Config file to load
 
   --,  --ignore_rest
     Ignores the rest of the labeled arguments following this flag.
 
   --version
     Displays version information and exits.
 
   -h,  --help
     Displays usage information and exits.