EKF-matlab工具箱，可以参考 -EKF-matlab toolbox, can refer to reference

this some toolbox for SLAM in robotic field-this is some toolbox for SLAM in robotic field

Joan Solà编写6自由度扩展卡尔曼滤波slam算法工具包，解决视觉和机器人定位SLAM的一些列算法matlab工具包，对机器人定位和地图创建以及基于视觉的定位有很大帮助-This toolbox performs 6DOF SLAM using the classical EKF implementation. It is conceived as an "active-search" SLAM. It is provided for free under the GPL license