├── .gitignore ├── README.md ├── ch10-ekf-slam ├── ekf_slam_framework │ ├── data │ │ ├── sensor_data.dat │ │ └── world.dat │ └── octave │ │ ├── correction_step.m │ │ ├── ekf_slam.m │ │ ├── prediction_step.m │ │ └── tools │ │ ├── chi2invtable.m │ │ ├── drawellipse.m │ │ ├── drawprobellipse.m │ │ ├── drawrobot.m │ │ ├── normalize_all_bearings.m │ │ ├── normalize_angle.m │ │ ├── plot_state.m │ │ ├── read_data.m │ │ └── read_world.m └── ukf_slam_framework │ ├── data │ ├── sensor_data.dat │ └── world.dat │ └── octave │ ├── correction_step.m │ ├── prediction_step.m │ ├── tools │ ├── add_landmark_to_map.m │ ├── chi2invtable.m │ ├── compute_sigma_points.m │ ├── drawellipse.m │ ├── drawprobellipse.m │ ├── drawrobot.m │ ├── normalize_angle.m │ ├── plot_state.m │ ├── read_data.m │ └── read_world.m │ └── ukf_slam.m ├── ch3-gaussian-filter └── unscented_transform_framework │ └── octave │ ├── compute_sigma_points.m │ ├── main.m │ ├── recover_gaussian.m │ ├── tools │ ├── chi2invtable.m │ ├── drawellipse.m │ └── drawprobellipse.m │ └── transform.m ├── ch5-robot-motion └── bicycle_model.ipynb ├── ch6-robot-perception └── sample_marker_model.ipynb ├── ch7-localization-markov-gaussian └── ex3_ekf_localization.ipynb ├── ch8-localization-grid-mc ├── grid_localization.ipynb └── monte_carlo_localization.ipynb ├── edx-amrx ├── ethzasl_amr_exercise3 │ ├── code │ │ ├── Ex3_LineExtraction │ │ │ ├── .octaverc │ │ │ ├── extractLines.m │ │ │ ├── extractLinesPolar.m │ │ │ ├── fitLine.m │ │ │ ├── fitLinePolar.m │ │ │ ├── helper_functions │ │ │ │ ├── calcZDiff.m │ │ │ │ ├── generateMap.m │ │ │ │ ├── normalizeLineParameters.m │ │ │ │ ├── plotLinesAndMeasurements.m │ │ │ │ ├── plotLinesAndMeasurementsPolar.m │ │ │ │ ├── transformCartesianBodyToWorld.m │ │ │ │ ├── transformLineParameterBodyToWorld.m │ │ │ │ └── unifrnd.m │ │ │ ├── test │ │ │ │ ├── .octaverc │ │ │ │ ├── data │ │ │ │ │ ├── testLineExtraction1.mat │ │ │ │ │ ├── testLineExtraction2.mat │ │ │ │ │ ├── testLineExtraction3.mat │ │ │ │ │ ├── testLineExtraction4.mat │ │ │ │ │ ├── testLineExtraction5.mat │ │ │ │ │ └── testLineExtraction6.mat │ │ │ │ ├── runAndCheckFitLine.m │ │ │ │ ├── startup.m │ │ │ │ ├── testLineExtraction.m │ │ │ │ └── testLineFitting.m │ │ │ └── vrep │ │ │ │ ├── .octaverc │ │ │ │ ├── startup.m │ │ │ │ └── vrepSimulation.m │ │ └── common │ │ │ ├── .octaverc │ │ │ ├── libs │ │ │ ├── matlab │ │ │ │ ├── linuxLibrary32Bit │ │ │ │ │ └── remoteApi.so │ │ │ │ ├── linuxLibrary64Bit │ │ │ │ │ └── remoteApi.so │ │ │ │ ├── macLibrary │ │ │ │ │ └── remoteApi.dylib │ │ │ │ ├── windowsLibrary32Bit │ │ │ │ │ └── remoteApi.dll │ │ │ │ └── windowsLibrary64Bit │ │ │ │ │ └── remoteApi.dll │ │ │ └── octave │ │ │ │ ├── linuxLibrary32Bit │ │ │ │ └── remApi.oct │ │ │ │ ├── linuxLibrary64Bit │ │ │ │ └── remApi.oct │ │ │ │ ├── macLibrary │ │ │ │ └── remoteApi.dylib │ │ │ │ └── windowsLibrary │ │ │ │ └── remApi.oct │ │ │ ├── normalizeAngle.m │ │ │ ├── startup │ │ │ └── startup.m │ │ │ └── vrep │ │ │ ├── bob_addMapSegment.m │ │ │ ├── bob_addPathSegment.m │ │ │ ├── bob_clearMapSegments.m │ │ │ ├── bob_clearPathSegments.m │ │ │ ├── bob_getBodyDiameter.m │ │ │ ├── bob_getEncoders.m │ │ │ ├── bob_getGhostPose.m │ │ │ ├── bob_getInterWheelDistance.m │ │ │ ├── bob_getLaserData.m │ │ │ ├── bob_getMap.m │ │ │ ├── bob_getPose.m │ │ │ ├── bob_getScannerPose.m │ │ │ ├── bob_getTargetGhostPose.m │ │ │ ├── bob_getWheelDiameter.m │ │ │ ├── bob_getWheelSpeeds.m │ │ │ ├── bob_init.m │ │ │ ├── bob_setGhostPose.m │ │ │ ├── bob_setGhostVisible.m │ │ │ ├── bob_setTargetGhostPose.m │ │ │ ├── bob_setTargetGhostVisible.m │ │ │ ├── bob_setWheelSpeeds.m │ │ │ ├── matlab │ │ │ ├── remApi.m │ │ │ └── remoteApiProto.m │ │ │ ├── octave │ │ │ └── remApiSetup.m │ │ │ ├── simulation_closeAllConnections.m │ │ │ ├── simulation_closeConnection.m │ │ │ ├── simulation_openConnection.m │ │ │ ├── simulation_pause.m │ │ │ ├── simulation_selectObject.m │ │ │ ├── simulation_setMouseNavigation.m │ │ │ ├── simulation_setStepped.m │ │ │ ├── simulation_setup.m │ │ │ ├── simulation_start.m │ │ │ ├── simulation_stop.m │ │ │ ├── simulation_triggerStep.m │ │ │ └── test.m │ ├── exercise3-assignment.pdf │ └── scene │ │ └── mooc_exercise.ttt └── ethzasl_amr_exercise5 │ ├── code │ ├── Ex5_EKF_SLAM │ │ ├── .octaverc │ │ ├── helper_functions │ │ │ ├── associateMeasurements.m │ │ │ ├── blockDiagonal.m │ │ │ ├── extractLines.m │ │ │ ├── extractLinesPolar.m │ │ │ ├── filterStep.m │ │ │ ├── fitLine.m │ │ │ ├── fitLinePolar.m │ │ │ ├── generateMap.m │ │ │ ├── getOrder.m │ │ │ ├── incrementalLocalization.m │ │ │ ├── normalizeLineParameters.m │ │ │ └── plotLandmarks.m │ │ ├── measurementFunction.m │ │ ├── startup.m │ │ ├── test │ │ │ ├── .octaverc │ │ │ ├── data │ │ │ │ └── validationData.mat │ │ │ ├── generateValidationData.m │ │ │ ├── startup.m │ │ │ ├── validateCompleteEKFLoop.m │ │ │ ├── validateFilter.m │ │ │ ├── validateMeasurementFunction.m │ │ │ └── validateTransitionFunction.m │ │ ├── transitionFunction.m │ │ ├── validationData.mat │ │ └── vrep │ │ │ ├── .octaverc │ │ │ ├── startup.m │ │ │ └── vrepSimulation.m │ └── common │ │ ├── .octaverc │ │ ├── libs │ │ ├── matlab │ │ │ ├── linuxLibrary32Bit │ │ │ │ └── remoteApi.so │ │ │ ├── linuxLibrary64Bit │ │ │ │ └── remoteApi.so │ │ │ ├── macLibrary │ │ │ │ └── remoteApi.dylib │ │ │ ├── windowsLibrary32Bit │ │ │ │ └── remoteApi.dll │ │ │ └── windowsLibrary64Bit │ │ │ │ └── remoteApi.dll │ │ └── octave │ │ │ ├── linuxLibrary32Bit │ │ │ └── remApi.oct │ │ │ ├── linuxLibrary64Bit │ │ │ └── remApi.oct │ │ │ ├── macLibrary │ │ │ └── remoteApi.dylib │ │ │ └── windowsLibrary │ │ │ └── remApi.oct │ │ ├── normalizeAngle.m │ │ ├── startup │ │ └── startup.m │ │ └── vrep │ │ ├── bob_addMapSegment.m │ │ ├── bob_addPathSegment.m │ │ ├── bob_clearMapSegments.m │ │ ├── bob_clearPathSegments.m │ │ ├── bob_getBodyDiameter.m │ │ ├── bob_getEncoders.m │ │ ├── bob_getGhostPose.m │ │ ├── bob_getInterWheelDistance.m │ │ ├── bob_getLaserData.m │ │ ├── bob_getMap.m │ │ ├── bob_getPose.m │ │ ├── bob_getScannerPose.m │ │ ├── bob_getTargetGhostPose.m │ │ ├── bob_getWheelDiameter.m │ │ ├── bob_getWheelSpeeds.m │ │ ├── bob_init.m │ │ ├── bob_setGhostPose.m │ │ ├── bob_setGhostVisible.m │ │ ├── bob_setTargetGhostPose.m │ │ ├── bob_setTargetGhostVisible.m │ │ ├── bob_setWheelSpeeds.m │ │ ├── matlab │ │ ├── remApi.m │ │ └── remoteApiProto.m │ │ ├── octave │ │ └── remApiSetup.m │ │ ├── simulation_closeAllConnections.m │ │ ├── simulation_closeConnection.m │ │ ├── simulation_openConnection.m │ │ ├── simulation_pause.m │ │ ├── simulation_selectObject.m │ │ ├── simulation_setMouseNavigation.m │ │ ├── simulation_setStepped.m │ │ ├── simulation_setup.m │ │ ├── simulation_start.m │ │ ├── simulation_stop.m │ │ ├── simulation_triggerStep.m │ │ └── test.m │ ├── exercise5-assignment.pdf │ └── scene │ └── mooc_exercise.ttt ├── ekf-localization ├── README.md ├── code │ ├── Ex4_LineEKF │ │ ├── .octaverc │ │ ├── associateMeasurements.m │ │ ├── filterStep.m │ │ ├── helper_functions │ │ │ ├── blockDiagonal.m │ │ │ ├── calcZDiff.m │ │ │ ├── extractLines.m │ │ │ ├── extractLinesPolar.m │ │ │ ├── fitLine.m │ │ │ ├── fitLinePolar.m │ │ │ ├── generateMap.m │ │ │ ├── getOrder.m │ │ │ └── normalizeLineParameters.m │ │ ├── incrementalLocalization.m │ │ ├── measurementFunction.m │ │ ├── startup.m │ │ ├── test │ │ │ ├── .octaverc │ │ │ ├── data │ │ │ │ └── validationData.mat │ │ │ ├── startup.m │ │ │ ├── validateAssociations.m │ │ │ ├── validateFilter.m │ │ │ ├── validateMeasurementFunction.m │ │ │ └── validateTransitionFunction.m │ │ ├── transitionFunction.m │ │ └── vrep │ │ │ ├── .octaverc │ │ │ ├── startup.m │ │ │ └── vrepSimulation.m │ └── common │ │ ├── .octaverc │ │ ├── libs │ │ ├── matlab │ │ │ ├── linuxLibrary32Bit │ │ │ │ └── remoteApi.so │ │ │ ├── linuxLibrary64Bit │ │ │ │ └── remoteApi.so │ │ │ ├── macLibrary │ │ │ │ └── remoteApi.dylib │ │ │ ├── windowsLibrary32Bit │ │ │ │ └── remoteApi.dll │ │ │ └── windowsLibrary64Bit │ │ │ │ └── remoteApi.dll │ │ └── octave │ │ │ ├── linuxLibrary32Bit │ │ │ └── remApi.oct │ │ │ ├── linuxLibrary64Bit │ │ │ └── remApi.oct │ │ │ ├── macLibrary │ │ │ └── remoteApi.dylib │ │ │ └── windowsLibrary │ │ │ └── remApi.oct │ │ ├── normalizeAngle.m │ │ ├── startup │ │ └── startup.m │ │ └── vrep │ │ ├── bob_addMapSegment.m │ │ ├── bob_addPathSegment.m │ │ ├── bob_clearMapSegments.m │ │ ├── bob_clearPathSegments.m │ │ ├── bob_getBodyDiameter.m │ │ ├── bob_getEncoders.m │ │ ├── bob_getGhostPose.m │ │ ├── bob_getInterWheelDistance.m │ │ ├── bob_getLaserData.m │ │ ├── bob_getMap.m │ │ ├── bob_getPose.m │ │ ├── bob_getScannerPose.m │ │ ├── bob_getTargetGhostPose.m │ │ ├── bob_getWheelDiameter.m │ │ ├── bob_getWheelSpeeds.m │ │ ├── bob_init.m │ │ ├── bob_setGhostPose.m │ │ ├── bob_setGhostVisible.m │ │ ├── bob_setTargetGhostPose.m │ │ ├── bob_setTargetGhostVisible.m │ │ ├── bob_setWheelSpeeds.m │ │ ├── matlab │ │ ├── remApi.m │ │ └── remoteApiProto.m │ │ ├── octave │ │ └── remApiSetup.m │ │ ├── simulation_closeAllConnections.m │ │ ├── simulation_closeConnection.m │ │ ├── simulation_openConnection.m │ │ ├── simulation_pause.m │ │ ├── simulation_selectObject.m │ │ ├── simulation_setMouseNavigation.m │ │ ├── simulation_setStepped.m │ │ ├── simulation_setup.m │ │ ├── simulation_start.m │ │ ├── simulation_stop.m │ │ ├── simulation_triggerStep.m │ │ └── test.m ├── exercise4-assignment.pdf ├── images │ ├── EKF_localization.gif │ ├── bob_env.png │ ├── just_odometry.gif │ └── line_fitting.png └── scene │ └── mooc_exercise.ttt ├── least-square-slam ├── README.md ├── images │ ├── graph_slam_components.png │ ├── ls_slam_dlr_dataset.gif │ ├── ls_slam_intel_dataset.gif │ ├── ls_slam_pose_pose.gif │ ├── pose_graph.png │ └── pose_pose_constraint.png ├── lsslam_framework │ ├── data │ │ ├── dlr.dat │ │ ├── intel.dat │ │ ├── simulation-pose-landmark.dat │ │ └── simulation-pose-pose.dat │ └── octave │ │ ├── compute_global_error.m │ │ ├── linearize_and_solve.m │ │ ├── linearize_pose_landmark_constraint.m │ │ ├── linearize_pose_pose_constraint.m │ │ ├── lsSLAM.m │ │ ├── normalize_angle.m │ │ ├── octave-workspace │ │ ├── test_jacobian_pose_landmark.m │ │ ├── test_jacobian_pose_pose.m │ │ └── tools │ │ ├── build_structure.m │ │ ├── get_block_for_id.m │ │ ├── get_poses_landmarks.m │ │ ├── invt.m │ │ ├── nnz_of_graph.m │ │ ├── plot_graph.m │ │ ├── read_graph.m │ │ ├── t2v.m │ │ └── v2t.m ├── odom_calib_framework │ ├── data │ │ ├── odom_motions │ │ └── scanmatched_motions │ └── octave │ │ ├── LSCalibrateOdometry.m │ │ ├── apply_odometry_correction.m │ │ ├── compute_trajectory.m │ │ ├── ls_calibrate_odometry.m │ │ └── tools │ │ ├── t2v.m │ │ └── v2t.m ├── robotMappingSheet09.pdf └── robotMappingSheet10.pdf └── misc ├── ekf_slam_example.gif ├── line_extraction_split_and_merge.jpg ├── ls-odometry-calibration.jpg └── ukf_slam_example.gif /.gitignore: -------------------------------------------------------------------------------- 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