This repository is the code for paper 2D Laser SLAM with Closed Shape Features: Fourier Series Parameterization and Submap Joining which is published on RA-L / ICRA 2021.
Author: Jiaheng Zhao, Tiancheng Li, Tong Yang, Liang Zhao, and Shoudong Huang
The simulated data is generated by the code here.
- Matlab
Execute startup
to add path before running.
Execute clearfolder
to remove path.
Run fsSLAM
to run submap joining.
Run fsSLAMJoining
to run submap joining.
Thank you for citing our paper if it inspires you somehow.
@article{zhao20212d,
title={2D Laser SLAM With Closed Shape Features: Fourier Series Parameterization and Submap Joining},
author={Zhao, Jiaheng and Li, Tiancheng and Yang, Tong and Zhao, Liang and Huang, Shoudong},
journal={IEEE Robotics and Automation Letters},
volume={6},
number={2},
pages={1527--1534},
year={2021},
publisher={IEEE}
}