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Observability-Constrained (OC)-EKF for 2D SLAM

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OC-EKF SLAM

Observability-Constrained (OC)-EKF for 2D SLAM

Reference

Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, Observability-based Rules for Designing Consistent EKF SLAM Estimators, International Journal of Robotics Research, vol. 29, no. 5, pp. 502-528, April 2010.

Notes

  • Change simulation parameters in the main script (main.m) as needed
  • Run main.m

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