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+Modify body Jacobian F. Junho has an identity in the db/db term, which is not
+consistent with the handling of X and V.
+
+Update covariance based on known estimate (GPS aided)
+
+Dynamically adjusted state size. We can add and delete features as needed.
+Junho's code requires a fixed state size.
+
+Treat measurements as independent. Compute S_i individually for each measurement
+and compose S as block diagonal for speed improvement.