Sejerøe, Thomas Hanefeld4; Ravn, Ole1; Poulsen, Niels Kjølstad5
1 Department of Electrical Engineering, Technical University of Denmark2 Mathematical Statistics, Department of Informatics and Mathematical Modeling, Technical University of Denmark3 Department of Informatics and Mathematical Modeling, Technical University of Denmark4 unknown5 Department of Applied Mathematics and Computer Science, Technical University of Denmark
In this paper we present a simulation platform for evaluate methods for simultaneous location and mapping. The platfor is based on The KALMTOOL 2 toolbox which is a set of MATLAB tools for state estimation for nonlinear systems. The toolbox contains functions for extended Kalman filtering as well as for two new filters called the DD1 filter and the DD2 filter. It also contains function for Uncented Kalman filters as well as three versions of particle filters. The toolbox requires MATLAB ver. 6, but no additional toolboxes are required.