SLAM SLAM everywhere

- 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

Another SLAMmer

http://calamau.wordpress.com/

Interesting SLAM softwares and More

http://liu-cv.blogspot.com

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.