This program is a pure C++ implementation of FastSLAM 1 and 2. It also integrated a GUI interface which draw current states and observations.
The source is based on yglee source code (https://github.com/yglee/FastSLAM), and orignal FastSLAM (https://www-personal.acfr.usyd.edu.au/tbailey/software/slam_simulations.htm) . We add Qt GUI and also fixed some bugs from yglee's implementation.
- Eigen3 ( included)
- Qt4 (
sudo apt-get install qt4-default libqt4-dev libqt4-dev-bin) - QCustomPlot (included, webpage: https://www.workslikeclockwork.com/)
qmake FastSLAM.pro
make
./FastSLAM
-m [s] input map file name
-mode [s] runing mode
waypoints : following given waypoints
interactive : use keyboard to control movement
-method [s] SLAM method
EKF1 : EKF SLAM 1
FAST1 : FastSLAM 1
FAST2 : FastSLAM 2
-h (print usage)
examples:
./FastSLAM -method FAST1 -mode interactive (FastSLAM 1, user interactive)
./FastSLAM -method FAST2 -mode waypoints -m data/example_webmap.mat (FastSLAM 2, following waypoints, map is "example_webmap.mat")
./FastSLAM -method EKF1 -mode waypoints -m data/example_loop1.mat (EKF SLAM, following waypoints, map is "example_loop1.mat")
Test on Ubuntu 18.04 64-bit.
- Low performance (Even worse than Matlab version)
- Crash occurs when zooming or moving plot (occasionally)
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