# msckf-swf-comparison
MATLAB code and data for our CRV 2015 paper, "The Battle for Filter Supremacy: A Comparative Study of the Multi-State Constraint Kalman Filter and the Sliding Window Filter".

This code was written by Lee Clement and Valentin Peretroukhin. You may contact the authors at {lee.clement, v.peretroukhin}@mail.utoronto.ca.

If you use this work in your research, please cite:
```
@INPROCEEDINGS{Clement2015CRV,
  author = {Lee Clement and Valentin Peretroukhin and Jacob Lambert and Jonathan Kelly},
  title = {The Battle for Filter Supremacy: A Comparative Study of the Multi-State Constraint Kalman Filter and the Sliding Window Filter},
  booktitle = {Conference on Computer and Robot Vision (CRV)},
  year = {2015}
}
```