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Kalmtool

News

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

July 2008: Kalmtool 4 is ready for download at  kalmtool4.tar.gz

Mar 2006: Kalmtool 4 is ready in a beta version. After the presentation at SYSID 2006  it will be available at this location. New features include an dual interface making it possible to use either scripting in MATLAB and graphics in Simulink as the main interface.

Aug 2005: Kalmtool 2 renamed to Kalmtool 3 to avoid any mix up with Kalmtool version 2.

Jul 2005: Kalmtool 2 ready for download

Download and Installation

The 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:

(Use "tar zxvf 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 first command.

For demos look in runs (dir runs)

Please send an e-mail to or@elektro.dtu.dk to register, I will send information about new releases.

References

  • 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.

  • Mogensen, Lars Valdemar ; Andersen, Nils Axel ; Ravn, Ole ; Poulsen, Niels Kjølstad  (2008), Kalmtool 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, SYSID 2006, Newcastle, NSW, Australia. 

Support

Please 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.

We encourage all users of the Kalmtool to write us about their successes (and failures?). We are very 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!

You can e-mail your experiences to or@elektro.dtu.dk .

Acknowledgements

The development of Kalmtool 4 was based on the Kalmtool toolbox and Kalmtool v. 2 toolbox by Magnus Nørgård.

Copyright

1994-2009 by Automation, DTU Elektro and IMM, DTU Denmark

Disclaimer

By using the toolbox the user agrees to all of the following.

  • If 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.
  • Ole Ravn and Niels Kjølstad Poulsen (DTU) do not offer any support for this product whatsoever. The toolbox is offered free of charge.
  • The toolbox is 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, DTU.
  • THE TOOLBOX IS 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 SOFTWARE.

MATLAB and SIMULINK are trademarks of The MathWorks, Inc.

Trademarks of other companies and/or organizations mentioned in this documentation appear for identification purposes only and are the property of their respective companies and/or organizations.

Comments, suggestions etc are very welcome at or@elektro.dtu.dk


Last updated: 07-Dec-2009 (Mon)