CEKF-SLAM是一个基于压缩的扩展卡尔曼滤波的SLAM仿真模拟器

代码说明：

CEKF-SLAM was originally proposed by Jose Guivant and Eduardo Net. This algorithm reduces the computational complexity by dividing the system state vector into two parts: the active local state vector and the others. Only the local state vector is updated for each step by EKF, and the necessary information for updating the other states is compressed into some auxiliary cofficient matrices. When the local area changes, a full update was executed to get the same estimation results as EKF.