12 Mar

a simple demo one-step update on EM-SLAM

Chaojie Feng

Attached is a simple demo on one-step update of EM-SLAM algorithm. Note that the robot has only one observation at the begining, and then with an EM algorithm, the landmarks will converge to a certain configuration, but not exact position due to the prior guess of robot state has error. With a correct configuration generated, I can continue to work on recursive version of EM-SLAM.

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