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

mandate

make new case
plot X vs X estimate, and P estimates in all cases

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

010909

Deadline: 04/09/09
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1. Making Visibility work completely.(no code flaws)
2. Making Clustering program work in the lab environment.
-Near features might cause problems with gate values, hence need to be discarded/an intelligent solution is required.(Discarding also needs to be consistent)
3. Understand all work and core variables and how they change and jacobians.
---------------------
Deadline:16/09/09

1. One SLAM run start-end-start(w or w/o loop closing)
2. Drawing like in CoreSLAM(Saving all scan values and position offline and making a plot) and comparing it with only odometry based mapping results.
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180809

robot error in movement is causing some non-visible lines to be called pakka lines.

z(2)/association is working fine.
Also needed,
if a point landmark is associated flag