EKF

in EKF,
dP/dk is actually dPprior/dk

1. why is covariance not dependent on z?
2. determinant of P matrix decreasing monotonically, what does it mean?
3. If I see a new landmark whilst also seeing old landmarks, how can uncertainty in the new one be very high? it should be top-limited by the relative uncertainty of other landmarks

To do

1. Complete box demo
2. Talk to Dr.PRK Rao about EKF SLAM (Thursday)
3. EKF SLAM C program complete (all variables and prediction function)
4. Complete reading GPSLAM/ 2 dissa papers

by weekend