SLAM Toolbox for Matlab.

This git repository provides EKF-SLAM and graph-SLAM toolboxes.

I. Copyright and license.

(c) 2007, 2008, 2009, 2010 Joan Sola @ LAAS-CNRS; (c) 2010, 2011, 2012, 2013 Joan Sola (c) 2014, 2015, 2016--2018 Joan Sola @ IRI-UPC-CSIC; (c) 2009 Joan Sola, David Marquez, Jean Marie Codol, Aurelien Gonzalez and Teresa Vidal-Calleja, @ LAAS-CNRS; (c) 2018 Marija Popovic @ ETH, thanks for the ellipse drawing in graph SLAM

Maintained by Joan Sola Please write feedback, suggestions and bugs to:

[email protected]

or use the GitHub web tools.

Published under GPL license. See COPYING.txt.

II. Giving credit

In addition to the GPL license, users should consider, in their scientific communications :

A. acknowledging the use of this toolbox.

B. citing one of the papers of the authors:

• SOLA-ETAL-IJCV-11 "Impact of landmark parametrization on monocular EKF-SLAM with points and lines"
• SOLA-ETAL-IROS-09 "Undelayed initialization of line segments in monocular SLAM"
• SOLA-ETAL-TRO-08 "Fusing monocular information in multi-camera SLAM"
• SOLA-ETAL-IROS-05 "Undelayed initialization in bearing only SLAM"

appearing in the References section in the documentation.

III. Installation and quick usage.

To make it work, (1) open a terminal (for example, a linux terminal) and (2) start Matlab. Then follow these steps:

To use EKF-SLAM

A. In the [Linux / MacOSX] terminal:

A.1. Get the source code,

    git clone git://github.com/joansola/slamtb.git

A.2. Go to the toolbox

    cd slamtb

A.3. Select the EKF-SLAM project.

    git checkout ekf

B. In the Matlab command window:

B.1. Go to the toolbox

    >> cd slamtb

B.2. Add all subdirectories in slamtb/ to your Matlab path using the provided script:

    >> slamrc

B.3. Edit user data file, and enter the data of your experiment.

    >> edit userData.m.

B.4. Run the main script

    >> slamtb.

B.5. To develop methods, read first slamToolbox.pdf and guidelines.pdf.

To use graph-SLAM

A. In the [Linux / MacOSX] terminal:

A.1. Get the source code,

    git clone git://github.com/joansola/slamtb.git

A.2. Go to the toolbox

    cd slamtb

A.3. Select the graph-SLAM project.

    git checkout graph

B. In the Matlab prompt:

B.1. Go to the toolbox

    >> cd slamtb

B.2. Add all subdirectories in slamtb/ to your Matlab path using the provided script:

    >> slamrc

B.3. Edit user data file, and enter the data of your experiment.

    >> edit userDataGraph.m

B.4. Run the main script

    >> slamtb_graph

B.5. To develop methods, read first slamToolbox.pdf and guidelines.pdf. For graph-SLAM, read also courseSLAM.pdf.

Enjoy!