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). (Bibtex, PDF)
2. Demo video
Also on YouTube: http://www.youtube.com/watch?v=IHGcW_DCaps
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.