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app_2d-slam-demo.rst

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Application: 2d-slam-demo

1. Description

This GUI application is a demonstration of 2D range-bearing SLAM under the paradigm of EKF-based SLAM, in a didactic way that allows extensive experimentation with data-association and parameter tuning.

It is an extension to a similar Matlab program developed by J. Neira and J. D. Tardós (University of Zaragoza).

At the core of this program lies one MRPT class: mrpt::slam::CRangeBearingKFSLAM2D.

The paper explaining the Matching Likelihood criteron for data association (one of the two choices offered in this program) is :cite:`blanco2012amd` (BibTex, Draft PDF ).

2. Demo video

3. Command line options

Invoking the program without any flag will launch it in normal, interactive, mode:

USAGE:

2d-slam-demo  [-r] [-n] [-c <params.ini>] [--] [--version] [-h]


Where:

-r,  --norun
    Just load the config file, don't run it.

-n,  --nogui
    Don't stay in the GUI, exit after the experiment.

-c <params.ini>,  --config <params.ini>
    Config file to load

--,  --ignore_rest
    Ignores the rest of the labeled arguments following this flag.

--version
    Displays version information and exits.

-h,  --help
    Displays usage information and exits.


2d-slam-demo