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PythonRobotics/SLAM/EKFSLAM/ekf_slam.py
Line 33 in 73d1189
It seems to me that the input for jacob_motion should be xEst instead of xEst[0:S], and the dimension of G should be len(xEst) by len(xEst).
jacob_motion
xEst
xEst[0:S]
G
Line 35 in 73d1189
This line updates only the covariance of the pose; it does not update the covariance between the pose and the map, i.e. $\Sigma_{xm}$.
The text was updated successfully, but these errors were encountered:
Successfully merging a pull request may close this issue.
PythonRobotics/SLAM/EKFSLAM/ekf_slam.py
Line 33 in 73d1189
It seems to me that the input for
jacob_motion
should bexEst
instead ofxEst[0:S]
, and the dimension ofG
should be len(xEst) by len(xEst).PythonRobotics/SLAM/EKFSLAM/ekf_slam.py
Line 35 in 73d1189
This line updates only the covariance of the pose; it does not update the covariance between the pose and the map, i.e.$\Sigma_{xm}$ .
The text was updated successfully, but these errors were encountered: