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Authors
Thomas Hanefeld Sejeroe; Niels Kjolstad Poulsen; Ole Ravn

Identifier
10.3182/20060329-3-AU-2901.00149

Index Terms
simulation,toolbox,state estimation,Kalman filtering,nonlinear systems,autonomous robots

Abstract
In this paper we present a simulation platform to evaluate methods for simultaneous location and mapping. The platform is based on the Kalmtool 3 toolbox which is a set of MATLAB tools for state estimation of nonlinear systems. The toolbox contains functions for extended Kalman filtering as well as for two new filters called the DD1 filter and the DD2 filter. It also contains function for Uncented Kalman filters as well as three versions of particle filters. The toolbox requires MATLAB ver. 6, but no additional toolboxes are required.

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