This GUI application is an extension to a similar Matlab program developed by J. Neira and J. D. Tardós (University of Zaragoza). It allows extensive experimentation with data-association and the behavior of Kalman Filter-based 2D SLAM, in a didactic way.
At the core of this program is just one MRPT class: mrpt::slam::CRangeBearingKFSLAM2D. Check out its Doxygen documentation for more details.
Paper explaining the Matching Likelihood criteron for data association (one of the two choices offered in this program):
J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, “An alternative to the Mahalanobis distance for determining optimal correspondences in data association“, IEEE Transactions on Robotics (T-RO), DOI: 10.1109/TRO.2012.2193706 (2012).