18 Apr

EM-SLAM with improved direct observation and range bearing observation

Chaojie Feng

Improved algorithm with direct observation:

Debugging on why range-bearing measurements failed:

  1. Attempted algorithm with range-bearing (perfect rnb observation, noisy time update):

  2. Attempted algorithm with range-bearing (noisy rnb observation, perfect time update):

Still, problem arise when observation is too noisy.

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