本内容遵循CC 4.0 BY-SA版权协议 简介：本资源是一个面向机器人与SLAM初学者、高校研究者及算法工程师的MATLAB仿真工具箱，聚焦EKF-SLAM与图优化SLAM两大核心范式，解决SLAM原理理解难、代码实现门槛高、仿真验证缺平台等实际学习痛点。压缩包共415个文件，以408个 ...

2.2 CNN-LSTM主干网络定义：如何用Matlab Layer Graph 实现跨模态特征融合？ Matlab不支持PyTorch式的动态图拼接，必须用 layerGraph 显式声明连接关系。 本结构核心在于： CNN输出需降维后喂给LSTM，且CNN的通道数必须整除LSTM隐藏单元数 ，否则 sequenceInputLayer 无法接收。

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