├── .gitignore ├── LICENSE ├── README ├── cfg ├── config.cfg └── config.cfg.bak ├── cuda-PHDSLAM.pro ├── debug.sh ├── matlab ├── SynthSetup2.m ├── computeBatchResults.m ├── computeExpectedMap.m ├── controls_synth.txt ├── examineWeights.m ├── generateAckermanTrajectory.m ├── makeCovEllipses.m ├── measurements_synth_ackerman.txt ├── measurements_synth_cv.txt ├── parseParticleFile.m ├── plotPhdSlam.m ├── simData2_ackerman.mat ├── simData2_cv.mat └── simdata_small.mat ├── python ├── AckermanMotionModel.py ├── ConstantVelocityMotionModel.py ├── RangeBearingMeasurementModel.py ├── batch_analyze.py ├── batch_run.py ├── controls_synth.txt ├── generate_simdata.py ├── groundtruth.mat ├── measurements_synth.txt ├── munkres_step4.pyx ├── ospa.py ├── plot_phdslam.py └── plot_results.py ├── run.sh └── src ├── AckermanMotionModel.h ├── cuPrintf.cu ├── cuPrintf.cuh ├── device_math.cuh ├── disparity.cu ├── disparity.h ├── fastslam.cu ├── gm_reduce.cpp ├── gm_reduce.h ├── main.cpp ├── models.h ├── 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