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Wrong covariance dimension in particle filter #997

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Chris7462 opened this issue Mar 31, 2024 · 0 comments · Fixed by #998
Closed

Wrong covariance dimension in particle filter #997

Chris7462 opened this issue Mar 31, 2024 · 0 comments · Fixed by #998

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@Chris7462
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PythonRobotics/Localization/particle_filter/particle_filter.py

Line 213 in f8b340b

# State Vector [x y yaw v]'

PythonRobotics/Localization/particle_filter/particle_filter.py

Line 99 in f8b340b

cov = np.zeros((3, 3))

At line 213, the state vector is defined as four-dimensional. However, in the cal_covariance function, the dimension has been changed to 3x3 matrix.
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Fix covariance dimension Chris7462/PythonRobotics
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@Chris7462