EKF SLAM with known data association

In the previous post I wrote a C++ implementation of the EKF localization algorithm from the Probabilistic Robotics book. As a continuation I also wrote an implementation for the EKF SLAM with known data association algorithm. This is similar to EKF localization except we’re also estimating the landmarks position and uncertainty. The code can be found here.


Here’s a screenshot of it in action.

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