Localization

Simultaneous localization and mapping, map building, odometry

Use simultaneous localization and mapping (SLAM) algorithms to build maps surrounding the ego vehicle based on visual or lidar data. Use visual-inertial odometry to estimate the pose (position and orientation) of a vehicle based on data from onboard sensors such as inertial measurement units (IMUs).

Functions

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Rotations

`rigid3d`	3-D rigid geometric transformation
`quaternion`	Create a quaternion array
`dist`	Angular distance in radians
`rotateframe`	Quaternion frame rotation
`rotatepoint`	Quaternion point rotation
`rotmat`	Convert quaternion to rotation matrix
`rotvec`	Convert quaternion to rotation vector (radians)
`rotvecd`	Convert quaternion to rotation vector (degrees)
`parts`	Extract quaternion parts
`euler`	Convert quaternion to Euler angles (radians)
`eulerd`	Convert quaternion to Euler angles (degrees)
`compact`	Convert quaternion array to N-by-4 matrix

Visual SLAM

`imageviewset`	Manage data for structure-from-motion, visual odometry, and visual SLAM
`optimizePoses`	Optimize absolute poses using relative pose constraints
`createPoseGraph`	Create pose graph
`relativeCameraPose`	Compute relative rotation and translation between camera poses
`triangulate`	3-D locations of undistorted matching points in stereo images
`bundleAdjustment`	Adjust collection of 3-D points and camera poses
`bundleAdjustmentMotion`	Adjust collection of 3-D points and camera poses using motion-only bundle adjustment
`bundleAdjustmentStructure`	Refine 3-D points using structure-only bundle adjustment

Point Cloud SLAM

`pcviewset`	Manage data for point cloud based visual odometry and SLAM
`optimizePoses`	Optimize absolute poses using relative pose constraints
`createPoseGraph`	Create pose graph
`scanContextDistance`	Distance between scan context descriptors
`scanContextDescriptor`	Extract scan context descriptor from point cloud
`pctransform`	Transform 3-D point cloud
`pcalign`	Align an array point clouds
`pcregistercorr`	Register two point clouds using phase correlation
`pcregistercpd`	Register two point clouds using CPD algorithm
`pcregistericp`	Register two point clouds using ICP algorithm
`pcregisterndt`	Register two point clouds using NDT algorithm
`pcregisterloam`	Register two point clouds using LOAM algorithm
`pcmapndt`	Localization map based on normal distributions transform (NDT)

Topics

Rotations, Orientations, and Quaternions for Automated Driving
Quaternions are four-part hypercomplex numbers that are used to describe three-dimensional rotations and orientations. Learn how to use them for automated driving applications.
Implement Visual SLAM in MATLAB
Understand the visual simultaneous localization and mapping (vSLAM) workflow and how to implement it using MATLAB.
Monocular Visual Simultaneous Localization and Mapping
Visual simultaneous localization and mapping (vSLAM).
Implement Point Cloud SLAM in MATLAB
Understand point cloud registration and mapping workflow.

Featured Examples

Lidar Localization with Unreal Engine Simulation

Develop and evaluate a lidar localization algorithm using synthetic lidar data from the Unreal Engine^® simulation environment.

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Develop Visual SLAM Algorithm Using Unreal Engine Simulation

Develop a visual simultaneous localization and mapping (SLAM) algorithm using image data from the Unreal Engine simulation environment.

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Build a Map from Lidar Data

Process 3-D lidar sensor data to progressively build a map, with assistance from inertial measurement unit (IMU) readings.

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Build a Map from Lidar Data Using SLAM

Process lidar data to build a map and estimate a vehicle trajectory using simultaneous localization and mapping.

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Build a Map with Lidar Odometry and Mapping (LOAM) Using Unreal Engine Simulation

Build a map with the lidar odometry and mapping (LOAM) [1] algorithm by using synthetic lidar data from the Unreal Engine® simulation environment. In this example, you learn how to:

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Build Occupancy Map from 3-D Lidar Data using SLAM

Build a 2-D Occupancy map from 3-D Lidar data using a simultaneous localization and mapping (SLAM) algorithm.

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Build Map and Localize Using Segment Matching

Build a map with lidar data and localize the position of a vehicle on the map using SegMatch [1], a place recognition algorithm based on segment matching.

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Visual-Inertial Odometry Using Synthetic Data

Estimate the position and orientation of a vehicle by using an inertial measurement unit (IMU) and a monocular camera.

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Visual Localization in a Parking Lot

Develop a visual localization system using synthetic image data from a parking lot scene in Unreal Engine environment.

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Perception-Based Parking Spot Detection Using Unreal Engine Simulation

Build a bird's-eye-view map of a parking lot using semantically segmented images from the ego vehicle camera, and detect empty parking spots from the map.

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