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| author | Martin Miller | 2017-04-05 14:08:25 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-05 14:08:25 -0500 |
| commit | 0a4594884adcdef15abe861fc64d74b7511c6055 (patch) | |
| tree | 4d83ef622e84dc440510a5aa909b6b3dabf943b5 /src/feature.cpp | |
| parent | 84782fff8f5838a0d58f3c32a558ed29d2a7e9d1 (diff) | |
| download | refslam-0a4594884adcdef15abe861fc64d74b7511c6055.zip refslam-0a4594884adcdef15abe861fc64d74b7511c6055.tar.gz | |
Improved process noise modeling
Diffstat (limited to 'src/feature.cpp')
| -rw-r--r-- | src/feature.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/feature.cpp b/src/feature.cpp index 85396e3..22bf776 100644 --- a/src/feature.cpp +++ b/src/feature.cpp @@ -148,7 +148,7 @@ Feature::Q ( const double dt ) { Matrix<double,3,3> Q; Q = Matrix<double,3,3>::Identity(); - Q *= dt*dt*dt*dt*FEATURE_NOISE;//*1e-1; + Q *= 0.5*dt*dt*dt*dt*FEATURE_NOISE*FEATURE_NOISE;//*1e-1; return Q; } /* ----- end of method Feature::q ----- */ |