From 10e0571454de1ceb5e959d3eda3c9b6102e2543b Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 18 Mar 2017 20:39:38 -0500
Subject: Add changes file

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 changes.txt | 10 ++++++++++
 1 file changed, 10 insertions(+)
 create mode 100644 changes.txt

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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.
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