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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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