July 2009: A special version of Kalmtool 4 (called
Kalmtool 4a.1) capable of handling missing observations in the
measurements is ready for download.
See references for more information. kalmtool4a.1.zip
Mar 2006: Kalmtool 4 is ready in a beta
version. After the presentation at SYSID
it will be available at this location. New features include
dual interface making it possible to use either scripting in MATLAB and
graphics in Simulink as the main interface.
toolbox has been
compressed and packed into a "tar.gz" file. kalmtool4.tar.gz
Save the file as "kalmtool4.tar.gz" when your browser prompts you and
issue the following commands to
"unzip" the file:
kalmtool4.tar.gz" to unpack.)
Important: Be sure that the working directory is the
root directory of Kalmtool and be sure to execute 'startup.m' as the
For demos look in runs (dir runs)
send an e-mail to firstname.lastname@example.org
register, I will send information about new releases.
Mogensen, Lars Valdemar ; Andersen, Nils Axel ; Ravn, Ole ;
Poulsen, Niels Kjølstad, (2009), Comparing Mobile Robot Localisation
Algorithms Using Kalmtool, SYSID 2009, St. Malo, France.
Mogensen, Lars V.; Hansen, Søren; Andersen, Jens Christian; Ravn,
Ole; Andersen, Nils A.; Blanke, Mogens; Poulsen, Niels
Kjølstad, (2009), Kalmtool Used for Laser Scanner Aided Navigation in Orchard, SYSID 2009, St. Malo, France.
Lars Valdemar ; Andersen,
Nils Axel ; Ravn,
Ole ; Poulsen,
in Navigation of Mobile Robots, Proceedings of 17th IFAC World
Congress, Seoul, Korea
Sejerøe, Thomas , Poulsen, Niels K. and Ravn, Ole,
(2006) A Simulation Platform for Localization and Mapping,
2006, Newcastle, NSW, Australia.
bear with us. This
is not a commercial product and thus we cannot spare the time for
supporting it. BUT, if you should find a major bug do let us know and
hopefully we can correct it in a future release.
encourage all users of
the Kalmtool to write us about their successes (and
interested in hearing where the toolbox is used and for what type of
applications. Since your comments very well may influence future
releases of the toolbox this is also in your own interest!
development of Kalmtool 4 was
based on the Kalmtool toolbox and Kalmtool v. 2 toolbox by Magnus
by Automation, DTU Elektro and IMM, DTU Denmark
using the toolbox the
user agrees to all of the following.
one is going to
publish any work where this toolbox has been used, please remember
it was obtained free of charge and include a reference to at least
one of the documents referenced above.
Ravn and Niels
Kjølstad Poulsen (DTU) do
not offer any support for this product whatsoever. The toolbox is
offered free of charge.
copyrighted freeware by Ole Ravn and Niels Kjølstad Poulsen
Ørsted and IMM, DTU. It
may be distributed freely unmodified. It is, however, not permitted
to utilize any part of the software in commercial products without
prior written consent of Ole Ravn, Ørsted.DTU,
PROVIDED "AS-IS" WITHOUT WARRENTY OF ANY KIND, EITHER EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRENTIES OR
CONDITIONS OF MECHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. IN
NO EVENT SHALL OLE RAVN AND/OR THE DEPARTMENT OF AUTOMATION BE
LIABLE FOR ANY SPECIAL, INCIDENTAL, INDIRECT, OR CONSEQUENTIAL DAMAGES
OF ANY KIND, OR DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE,
DATA, OR PROFITS, WHETHER OR NOT OR/IAU HAVE BEEN ADVISED OF THE
POSSIBILITY OF SUCH DAMAGES, AND/OR ON ANY THEORY OF LIABILITY
ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS
and SIMULINK are
trademarks of The MathWorks, Inc.
companies and/or organizations mentioned in this documentation appear
for identification purposes only and are the property of their
respective companies and/or organizations.