matlab_code

...........\@ekf_filter

...........\...........\display.m

...........\...........\ekf_filter.m

...........\...........\ekf_prediction.m

...........\...........\ekf_update.m

...........\...........\ekf_update_hi_inliers.m

...........\...........\ekf_update_iterated.m

...........\...........\ekf_update_li_inliers.m

...........\...........\extract_nu_and_S.m

...........\...........\get_H_predicted.m

...........\...........\get_measurements.m

...........\...........\get_p_k_k.m

...........\...........\get_p_k_km1.m

...........\...........\get_predicted_measurements.m

...........\...........\get_S_matching.m

...........\...........\get_S_predicted.m

...........\...........\get_std_a.m

...........\...........\get_std_alpha.m

...........\...........\get_std_z.m

...........\...........\get_x_k_k.m

...........\...........\get_x_k_km1.m

...........\...........\rescue_hi_inliers.m

...........\...........\set_p_k_k.m

...........\...........\set_std_a.m

...........\...........\set_std_alpha.m

...........\...........\set_x_k_k.m

...........\add_a_feature_covariance_inverse_depth.m

...........\add_feature_to_info_vector.m

...........\add_features_inverse_depth.m

...........\calculate_derivatives.m

...........\calculate_Hi_cartesian.m

...........\calculate_Hi_inverse_depth.m

...........\compute_hypothesis_support_fast.m

...........\count_matches_under_a_threshold.m

...........\crosscorr.m

...........\delete_a_feature.m

...........\delete_features.m

...........\dfv_by_dxv.m

...........\distor_a_point.m

...........\distort_fm.m

...........\dq3_by_dq1.m

...........\dq3_by_dq2.m

...........\dq_by_deuler.m

...........\dqbar_by_dq.m

...........\dqomegadt_by_domega.m

...........\draw_camera.m

...........\dRq_times_a_by_dq.m

...........\F_Test_dg_dhd.m

...........\F_Test_dg_dxv.m

...........\F_Test_dh_dxv.m

...........\F_Test_dh_dxv_newPar.m

...........\F_Test_dh_dy.m

...........\F_Test_dh_dy_newPar.m

...........\F_Test_dhd_dhu.m

...........\F_Test_dhu_dhrl.m

...........\F_test_q2rpy.m

...........\F_test_rpy2q.m

...........\fast-matlab-src

...........\...............\example.m

...........\...............\fast_corner_detect_10.m

...........\...............\fast_corner_detect_11.m

...........\...............\fast_corner_detect_12.m

...........\...............\fast_corner_detect_9.m

...........\...............\fast_nonmax.m

...........\...............\lab.pgm

...........\...............\LICENSE

...........\...............\README

...........\fig2avi.m

...........\figures

...........\.......\results.avi

...........\func_Q.m

...........\fv.m

...........\generate_random_6D_sphere.m

...........\generate_state_vector_pattern.m

...........\GPL.txt

...........\hi_cartesian.m

...........\hi_inverse_depth.m

...........\hinv.m

...........\hu.m

...........\initialize_a_feature.m

...........\initialize_cam.m

...........\initialize_features.m

...........\initialize_x_and_p.m

...........\inversedepth2cartesian.m

...........\inversedepth_2_cartesian.m

...........\jacob_distor_fm.m

...........\jacob_q2rpy.m

...........\jacob_rpy2q.m

...........\jacob_undistor_fm.m

...........\m.m

...........\map_management.m

...........\matching.m

...........\mono_slam.m

...........\normJac.m

...........\plots.m

...........\plotUncertainEllip2D.m

...........\plotUncertainEllip3D.m

...........\plotUncertainSurfaceXZ.m

...........\pred_patch_fc.m