├── README.md ├── comparison_3d.m ├── compute_rms_nees_ave.m ├── data.mat ├── data └── 1.mat ├── datagen_3d ├── README.md ├── config.m ├── data.mat ├── euler2rotation_matrix.m ├── gen_data.m ├── gen_trajectory.m ├── gen_trajectory2.m └── landmarks.mat ├── doc ├── RA-L.PDF └── autosam.pdf ├── ekf_3d ├── EKF_SLAM.m ├── EKF_plot_estimation.m ├── EKF_plot_rms_nees.m ├── EKF_propagate.m ├── EKF_update.m ├── Exp.m ├── J_r.m ├── ObservationModel.m ├── SpecialAdd.m └── observation_model.m ├── ekf_3d_mod ├── EKF_SLAM.m ├── EKF_plot_estimation.m ├── EKF_plot_rms_nees.m ├── EKF_propagate.m ├── EKF_update.m ├── Exp.m ├── J_r.m ├── ObservationModel.m ├── SpecialAdd.m └── observation_model.m ├── f_ekf_3d ├── Exp.m ├── FEKF_SLAM.m ├── FEKF_plot_estimation.m ├── FEKF_plot_rms_nees.m ├── FEKF_propagate.m ├── FEKF_update.m ├── J_r.m ├── ObservationModel.m ├── SpecialAdd.m ├── data.mat └── observation_model.m ├── f_ekf_3dTest ├── Exp.m ├── FEKF_SLAM.m ├── FEKF_plot_estimation.m ├── FEKF_plot_rms_nees.m ├── FEKF_propagate.m ├── FEKF_update.m ├── J_r.m ├── ObservationModel.m ├── SpecialAdd.m ├── data.mat └── observation_model.m ├── f_ekf_3dTest_mod ├── Exp.m ├── FEKF_SLAM.m ├── FEKF_plot_estimation.m ├── FEKF_plot_rms_nees.m ├── FEKF_propagate.m ├── FEKF_update.m ├── J_r.m ├── ObservationModel.m ├── SpecialAdd.m ├── data.mat └── observation_model.m ├── landmarks.mat ├── lie_utils ├── jaco_r.m ├── skew.m ├── so3_exp.m ├── so3_hatinv.m ├── so3_log.m ├── special_add_centric.m ├── special_add_centric2.m ├── special_add_left.m ├── special_add_right.m ├── special_add_right_not.m └── special_add_se3.m ├── multi_comparison_3d.m ├── not_right_ekf_3d ├── ObservationModel.m ├── data.mat ├── notREKF_SLAM.m ├── notREKF_plot_estimation.m ├── notREKF_plot_rms_nees.m ├── notREKF_propagate.m └── notREKF_update.m ├── right_ekf_3d ├── ObservationModel.m ├── REKF_SLAM.m ├── REKF_plot_estimation.m ├── REKF_plot_rms_nees.m ├── REKF_propagate.m ├── REKF_update.m └── data.mat ├── right_ekf_3d_mod ├── 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