add_control_noise.m

add_observation_noise.m

augment.m

augment_associate_known.m

compute_steering.m

configfile.m

data_associate.m

data_associate_known.m

ekfslam_sim.m

example_densemap.mat

example_linemap.mat

frontend.fig

frontend.m

get_observations.m

KF_cholesky_update.m

KF_IEKF_update.m

KF_simple_update.m

line_plot_conversion.m

observe_heading.m

observe_model.m

pi_to_pi.m

plot_feature_loci.m

predict.m

readme.txt

sqrtm_2by2.m

transformtoglobal.m

update.m

update_iekf.m

vehicle_model.m