Over the past week, I've successfully transforming the range-bearing measurements to direct observation with correct statistics (without approximation) Now the algorithm is fully functional.

Here is the demo setting:

  • maximum range radius: 25 cm
  • range uncertainty: 0.5 cm^2
  • bearing uncertainty: 0.01 rad^2
  • time update frequency: 10 Hz
  • observation frequency: 5 Hz

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