Source Code

• Matlab Utilities.
  Collection of functions for estimation, especially Kalman filters, unscented filters, etc. (updated March 2011)

• GMM Utilities.
  Functions for Gaussian mixture model operations. (updated Feb 2006)

• Mex Object Handle.
  A utility that permits C++ objects to be passed between Matlab and Mex functions.

C++ Utilities and Tutorials

• uLAPACK.
  Linear algebra package for use with Boost.uBLAS.

• Generic thin-interface container class.
  A C++ "minimal template bloat" interface class. It is able to hold objects, not just pointers-to-objects.

Research Code

• SLAM Simulations.
  Matlab simulations of EKF-SLAM, FastSLAM 1.0, FastSLAM 2.0 and UKF-SLAM.

• Scan matching.
  C++ code for aligning range-bearing laser data, using either ICP or Gaussian sum algorithms. Includes Matlab interfaces.