├── .gitignore ├── CITATION.cff ├── LICENSE ├── README.md ├── examples ├── mag-localization-mapping │ ├── frame.png │ ├── main.m │ ├── particleFilterLocalization.m │ ├── plotgpmap.m │ ├── robot-map-mag.png │ ├── robot-map-x.png │ ├── robot-map-y.png │ ├── robot-map-z.png │ ├── robot-pf.mp4 │ └── run_localization.m ├── slam-dense-mag │ ├── boxplot-mag.png │ ├── ekf_dense.m │ ├── mag-path-field.png │ ├── main.m │ ├── results │ │ ├── resultsSimMagSLAM_dist0.mat │ │ ├── resultsSimMagSLAM_dist1.mat │ │ ├── resultsSimMagSLAM_dist10.mat │ │ └── resultsSimMagSLAM_dist5.mat │ └── run_dense3D_magfield.m ├── slam-dense-radio │ ├── degeneracy-filter.png │ ├── degeneracy-gt.png │ ├── degeneracy-smoother.png │ ├── generateData_dense.m │ ├── line-filter-max.png │ ├── line-filter-mean.png │ ├── line-odometry.png │ ├── line-smoother.png │ ├── main.m │ ├── results │ │ ├── resultsSimRadioSLAM.mat │ │ └── resultsSimRadioSLAM_degen.mat │ └── run_dense2D_withHeading.m └── slam-sparse-visual │ ├── calc_rmses.m │ ├── curve-x2.mat │ ├── furniture.png │ ├── load_data.m │ ├── loop-pf.mp4 │ ├── loop-ps.mp4 │ ├── main.m │ ├── measurement.m │ ├── pfslam.m │ ├── plot_map.m │ ├── plot_visual_slam_progress.m │ └── psslam.m ├── src ├── particleFilter.m ├── particleSmoother.m └── particleSmootherInformationForm.m └── tools ├── JacobianPhi3D.m ├── domain_cartesian_dx.m ├── expq.m ├── gp_rnd_SE1D_fast.m ├── gp_rnd_scalar_potential_fast.m ├── gp_scalar_potential_fast.m ├── homography_estimation.m ├── imagescalpha.m ├── logR.m ├── logq.m ├── mcross.m ├── multiprod.m ├── qInv.m ├── qLeft.m ├── qRight.m ├── quat2euler.m ├── quat2rmat.m ├── rmat2quat.m └── sample.m /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/.gitignore -------------------------------------------------------------------------------- /CITATION.cff: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/CITATION.cff -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/README.md -------------------------------------------------------------------------------- /examples/mag-localization-mapping/frame.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/mag-localization-mapping/frame.png -------------------------------------------------------------------------------- /examples/mag-localization-mapping/main.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/mag-localization-mapping/main.m -------------------------------------------------------------------------------- /examples/mag-localization-mapping/particleFilterLocalization.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/mag-localization-mapping/particleFilterLocalization.m -------------------------------------------------------------------------------- /examples/mag-localization-mapping/plotgpmap.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/mag-localization-mapping/plotgpmap.m -------------------------------------------------------------------------------- /examples/mag-localization-mapping/robot-map-mag.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/mag-localization-mapping/robot-map-mag.png -------------------------------------------------------------------------------- /examples/mag-localization-mapping/robot-map-x.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/mag-localization-mapping/robot-map-x.png -------------------------------------------------------------------------------- /examples/mag-localization-mapping/robot-map-y.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/mag-localization-mapping/robot-map-y.png -------------------------------------------------------------------------------- /examples/mag-localization-mapping/robot-map-z.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/mag-localization-mapping/robot-map-z.png -------------------------------------------------------------------------------- /examples/mag-localization-mapping/robot-pf.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/mag-localization-mapping/robot-pf.mp4 -------------------------------------------------------------------------------- /examples/mag-localization-mapping/run_localization.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/mag-localization-mapping/run_localization.m -------------------------------------------------------------------------------- /examples/slam-dense-mag/boxplot-mag.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-mag/boxplot-mag.png -------------------------------------------------------------------------------- /examples/slam-dense-mag/ekf_dense.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-mag/ekf_dense.m -------------------------------------------------------------------------------- /examples/slam-dense-mag/mag-path-field.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-mag/mag-path-field.png -------------------------------------------------------------------------------- /examples/slam-dense-mag/main.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-mag/main.m -------------------------------------------------------------------------------- /examples/slam-dense-mag/results/resultsSimMagSLAM_dist0.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-mag/results/resultsSimMagSLAM_dist0.mat -------------------------------------------------------------------------------- /examples/slam-dense-mag/results/resultsSimMagSLAM_dist1.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-mag/results/resultsSimMagSLAM_dist1.mat -------------------------------------------------------------------------------- /examples/slam-dense-mag/results/resultsSimMagSLAM_dist10.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-mag/results/resultsSimMagSLAM_dist10.mat -------------------------------------------------------------------------------- /examples/slam-dense-mag/results/resultsSimMagSLAM_dist5.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-mag/results/resultsSimMagSLAM_dist5.mat -------------------------------------------------------------------------------- /examples/slam-dense-mag/run_dense3D_magfield.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-mag/run_dense3D_magfield.m -------------------------------------------------------------------------------- /examples/slam-dense-radio/degeneracy-filter.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/degeneracy-filter.png -------------------------------------------------------------------------------- /examples/slam-dense-radio/degeneracy-gt.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/degeneracy-gt.png -------------------------------------------------------------------------------- /examples/slam-dense-radio/degeneracy-smoother.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/degeneracy-smoother.png -------------------------------------------------------------------------------- /examples/slam-dense-radio/generateData_dense.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/generateData_dense.m -------------------------------------------------------------------------------- /examples/slam-dense-radio/line-filter-max.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/line-filter-max.png -------------------------------------------------------------------------------- /examples/slam-dense-radio/line-filter-mean.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/line-filter-mean.png -------------------------------------------------------------------------------- /examples/slam-dense-radio/line-odometry.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/line-odometry.png -------------------------------------------------------------------------------- /examples/slam-dense-radio/line-smoother.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/line-smoother.png -------------------------------------------------------------------------------- /examples/slam-dense-radio/main.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/main.m -------------------------------------------------------------------------------- /examples/slam-dense-radio/results/resultsSimRadioSLAM.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/results/resultsSimRadioSLAM.mat -------------------------------------------------------------------------------- /examples/slam-dense-radio/results/resultsSimRadioSLAM_degen.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/results/resultsSimRadioSLAM_degen.mat -------------------------------------------------------------------------------- /examples/slam-dense-radio/run_dense2D_withHeading.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-dense-radio/run_dense2D_withHeading.m -------------------------------------------------------------------------------- /examples/slam-sparse-visual/calc_rmses.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/calc_rmses.m -------------------------------------------------------------------------------- /examples/slam-sparse-visual/curve-x2.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/curve-x2.mat -------------------------------------------------------------------------------- /examples/slam-sparse-visual/furniture.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/furniture.png -------------------------------------------------------------------------------- /examples/slam-sparse-visual/load_data.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/load_data.m -------------------------------------------------------------------------------- /examples/slam-sparse-visual/loop-pf.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/loop-pf.mp4 -------------------------------------------------------------------------------- /examples/slam-sparse-visual/loop-ps.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/loop-ps.mp4 -------------------------------------------------------------------------------- /examples/slam-sparse-visual/main.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/main.m -------------------------------------------------------------------------------- /examples/slam-sparse-visual/measurement.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/measurement.m -------------------------------------------------------------------------------- /examples/slam-sparse-visual/pfslam.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/pfslam.m -------------------------------------------------------------------------------- /examples/slam-sparse-visual/plot_map.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/plot_map.m -------------------------------------------------------------------------------- /examples/slam-sparse-visual/plot_visual_slam_progress.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/plot_visual_slam_progress.m -------------------------------------------------------------------------------- /examples/slam-sparse-visual/psslam.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/examples/slam-sparse-visual/psslam.m -------------------------------------------------------------------------------- /src/particleFilter.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/src/particleFilter.m -------------------------------------------------------------------------------- /src/particleSmoother.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/src/particleSmoother.m -------------------------------------------------------------------------------- /src/particleSmootherInformationForm.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/src/particleSmootherInformationForm.m -------------------------------------------------------------------------------- /tools/JacobianPhi3D.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/JacobianPhi3D.m -------------------------------------------------------------------------------- /tools/domain_cartesian_dx.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/domain_cartesian_dx.m -------------------------------------------------------------------------------- /tools/expq.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/expq.m -------------------------------------------------------------------------------- /tools/gp_rnd_SE1D_fast.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/gp_rnd_SE1D_fast.m -------------------------------------------------------------------------------- /tools/gp_rnd_scalar_potential_fast.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/gp_rnd_scalar_potential_fast.m -------------------------------------------------------------------------------- /tools/gp_scalar_potential_fast.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/gp_scalar_potential_fast.m -------------------------------------------------------------------------------- /tools/homography_estimation.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/homography_estimation.m -------------------------------------------------------------------------------- /tools/imagescalpha.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/imagescalpha.m -------------------------------------------------------------------------------- /tools/logR.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/logR.m -------------------------------------------------------------------------------- /tools/logq.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/logq.m -------------------------------------------------------------------------------- /tools/mcross.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/mcross.m -------------------------------------------------------------------------------- /tools/multiprod.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/multiprod.m -------------------------------------------------------------------------------- /tools/qInv.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/qInv.m -------------------------------------------------------------------------------- /tools/qLeft.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/qLeft.m -------------------------------------------------------------------------------- /tools/qRight.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/qRight.m -------------------------------------------------------------------------------- /tools/quat2euler.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/quat2euler.m -------------------------------------------------------------------------------- /tools/quat2rmat.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/quat2rmat.m -------------------------------------------------------------------------------- /tools/rmat2quat.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/rmat2quat.m -------------------------------------------------------------------------------- /tools/sample.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/manonkok/Rao-Blackwellized-SLAM-smoothing/HEAD/tools/sample.m --------------------------------------------------------------------------------