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| -rw-r--r-- | changes.txt | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/changes.txt b/changes.txt new file mode 100644 index 0000000..96e0a89 --- /dev/null +++ b/changes.txt @@ -0,0 +1,10 @@ +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. |