14th IFAC Symposium on System Identification, SYSID 2006

SYSID-2006 Paper Abstract


Paper ThB5.6

Sejerĝe, Thomas (Tech. Univ. of Denmark), Poulsen, Niels (Tech. Univ. of Denmark), Ravn, Ole (Tech. Univ. of Denmark)

A Simulation Platform for Localization and Mapping

Scheduled for presentation during the Poster Session "Software Demonstration Session II" (ThB5), Thursday, March 30, 2006, 15:30−17:30, Mulubinba Room

14th IFAC Symposium on System Identification, March 29 - 31, 2006, Newcastle, Australia

This information is tentative and subject to change. Compiled on July 22, 2018

Keywords Toolboxes, Mechanical and Aerospace, Filtering and Smoothing


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.