Observability-Constrained (OC)-EKF for 2D SLAM

Reference

Guoquan Huang, Anastasios I. Mourikis and Stergios I. Roumeliotis, Observability-based Rules for Designing Consistent EKF SLAM Estimators, International Journal of Robotics Research, vol. 29, no. 5, pp. 502-528, April 2010.

Notes

• Change simulation parameters in the main script (main.m) as needed
• Run main.m