This repository contains an initialization method for range-aided simultaneous localization and mapping (RA-SLAM). Given range measurements, velocity measurements, and orientation measurements, the method estimates the robot's position and beacon positions.
This code accompanies our paper presented at OCEANS 2026 MTS/IEEE Conference and Exhibition:
I. Lougheed and J. R. Forbes,
"Range-Aided SLAM Initialization Exploiting Accurate Heading Information,"
OCEANS 2026 MTS/IEEE Conference and Exhibition, 2026.
Read the paper on arXiv
Note: The field data used in the paper is not publicly available and is therefore not included in this repository.