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):
Also on YouTube: http://www.youtube.com/watch?v=IHGcW_DCaps
[jwplayer |file=/videos/2dslamdemo.flv |image=/videos/2dslamdemo.jpg |width=810 |height=590]
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.