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LUGOT

This is the source code of our paper. If you find this code useful in your research, please consider citing our work:

LUGOT: LiDAR SLAM and UWB Fusion for Robust Global Given Object Tracking

Run

Instructions for Running the Program

  1. Main Function
    Directly run the main.m function, which initializes parameters and invokes all other functional programs.
    Warnings encountered during runtime do not affect the results and can be safely ignored.

Step-by-Step Guide

  1. Coordinate Transformation
    Execute uwb_to_map0.m to transform the coordinate system.
    Set the SLAM_FLAG parameter within this script to select results from different SLAM systems.

  2. Load Hyperparameters
    Load the hyper_parameter.mat file to import necessary hyperparameters.

  3. Filtering
    Run LUGOT.slx to perform *KF filtering.

  4. Smoothing Spline Fitting
    Run smoothing_spline_fit.m to fit the UWB trajectory using a smoothing spline.

  5. Process Noise Calculation
    Run calc_process_noise.m to calculate process noise.

  6. Visualization
    Execute plot_resault.m to visualize the filtering results.

  7. Statistical Analysis
    Run plot_statistics.m to generate statistical data visualizations, including various RMSE metrics.

Version info

  • Version: 1.2.0
  • Release Date: 2024-11-19
  • Notes:
    • modify for 3rd review.

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LUGOT: LiDAR and UWB Fusion for Global Given Object Tracking under Mobile Anchors

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