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cora-matlab

Official MATLAB implementation of "Certifiably Correct Range-Aided SLAM"

https://github.com/marineroboticsgroup/cora-matlab

Science Score: 52.0%

This score indicates how likely this project is to be science-related based on various indicators:

  • ✓
    CITATION.cff file
    Found CITATION.cff file
  • ✓
    codemeta.json file
    Found codemeta.json file
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    .zenodo.json file
    Found .zenodo.json file
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    DOI references
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    Academic publication links
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    Academic email domains
  • ✓
    Institutional organization owner
    Organization marineroboticsgroup has institutional domain (marinerobotics.mit.edu)
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    JOSS paper metadata
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    Scientific vocabulary similarity
    Low similarity (5.7%) to scientific vocabulary
Last synced: 6 months ago · JSON representation ·

Repository

Official MATLAB implementation of "Certifiably Correct Range-Aided SLAM"

Basic Info
  • Host: GitHub
  • Owner: MarineRoboticsGroup
  • Language: MATLAB
  • Default Branch: master
  • Homepage:
  • Size: 65.9 MB
Statistics
  • Stars: 16
  • Watchers: 6
  • Forks: 0
  • Open Issues: 0
  • Releases: 0
Created about 3 years ago · Last pushed over 1 year ago
Metadata Files
Readme Citation

README.md

Certifiably Correct Range-Aided SLAM (CORA)

This is a (no longer supported) MATLAB implementation build on manopt, primarily as a demo piece for extension and comparison.

We recommend you look at our official C++ implementation for a performant and actively maintained library.

Examples

Here is CORA in action on the Plaza1 and Plaza2 experiments from the CMU Navigating with Ranging Radios Dataset. In these animations the solver is initialized randomly to emphasize that CORA's performance is agnostic to the provided initialization.

| Plaza2 | Plaza2 | | ------------| -----------| | Plaza2 | Plaza2 |

Running Experiments

You can recreate all of the experiments from our paper using the data and scripts in this repository.

Feedback, Support, and Contributions

Any feedback, issues, or contributions are welcome and encouraged! Although the development on this is mostly dead, we'll do the best we can to provide support for hopeful users.

Enjoy!

Owner

  • Name: MIT's Marine Robotics Group
  • Login: MarineRoboticsGroup
  • Kind: organization
  • Location: MIT CSAIL, Cambridge, MA

Common repository for the Marine Robotics Group.

Citation (CITATION.cff) 

cff-version: 1.2.0
message: If you use this software, please cite it as below.
authors:
  - family-names: Papalia
    given-names: Alan
    orcid: https://orcid.org/0000-0002-6922-135X
title: Certifiably Correct Range-Aided SLAM
version: 0.0.1
date-released: 2023-04-28
url: "https://github.com/MarineRoboticsGroup/cora"

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