- no non-linearity means repeated updates cause advantage, no harm
- Observe Model should have the N-angle coming in w.r.t robot position in all codes
Thursday, February 11, 2010
Wednesday, February 3, 2010
Monday, February 1, 2010
Interesting SLAM softwares and More
http://liu-cv.blogspot.com
http://liu-cv.blogspot.com/2009/04/open-source-slam-software.html
http://liu-cv.blogspot.com/2009/04/open-source-slam-software.html
z-zp(Observation minus Predicted Observation)
If The measurement z is not in the observation space, then it will be in another framework depending on the robot's estimated position. it's variance(R) , because of the inclusion of the robot's pose in the measurement, will rise up and thus degrade the filter performance.
Friday, November 6, 2009
3 questions
1.How is the covariance of an imaginary line formulated? can the cross co-relation of points be used to help it?
2. The value of H determines K, the correction. Can we prevent certain updates that might hamper the consistency of EKF?
3. Observability Analysis
2. The value of H determines K, the correction. Can we prevent certain updates that might hamper the consistency of EKF?
3. Observability Analysis
Thursday, November 5, 2009
Saturday, October 24, 2009
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