CAS Robot Navigation Toolbox

MatLAB Toolbox for SLAM
Further information

Kai Arras;

Get the Source Code!

Long Description
This software is a GNU GPL licenced Matlab toolbox for robot localization and mapping. It is made for research and education and independent on the type(s) of feature and type(s) of sensors/ It can import a number of data file formats from any sensor. It allows you to plug in and out your feature extraction, odometry model, data association strategy, etc. and to plug in and out your SLAM or Localization approach. It furthermore comes with a number of useful tools and functions.

Example Images

CAS Robot Navigation Toolbox

Input Data
Sensor and odometry data

Logfile Format
Various formats

Type of Map
feature maps

Hardware/Software Requirements
Matlab version 6 (tested on Win XP, Linux, Solaris and Mac OS X)


License Information
This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
The authors allow the users of to use and modify the source code for their own research. Any commercial application, redistribution, etc has to be arranged between users and authors individually and is not covered by

Licensed under GPL.

Further Information
Example data can be found at

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