# FastSLAM

**Repository Path**: gitee_he/fastslam

## Basic Information

- **Project Name**: FastSLAM
- **Description**: FastSLAM with GUI

- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2024-03-28
- **Last Updated**: 2024-03-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# FastSLAM with GUI

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 (http://www-personal.acfr.usyd.edu.au/tbailey/software/slam_simulations.htm) . We add Qt GUI and also fixed some bugs from yglee's implementation. 

![Screenshot 1](figures/Screenshot-2D-SLAM_1.png "Screenshot 1")


## Requirements:
* Eigen3 ( included)
* Qt4 (`sudo apt-get install qt4-default libqt4-dev libqt4-dev-bin`)
* QCustomPlot (included, webpage: http://www.workslikeclockwork.com/) 


## Compile:

```
qmake FastSLAM.pro
make
```

## Usage:
```
./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")



## Plateform:
Test on Ubuntu 18.04 64-bit. 


## Issues:
* Low performance (Even worse than Matlab version)
* Crash occurs when zooming or moving plot (occasionally)


## Screenshot:
-![Screenshot 1](figures/Screenshot-2D-SLAM_1.png "Screenshot 1")
-![Screenshot 2](figures/Screenshot-2D-SLAM_2.png "Screenshot 2")


## Project homepage:
http://www.adv-ci.com/blog/source/fastslam-gui/