Validation gate

Source: SLAM for Dummies

An observed landmark is associated to a landmark if the following holds

$$ \begin{aligned} v_i^T S_i^{-1} v_i \leq \lambda \end{aligned} $$

The validation gate makes use of the fact that the EKF implementation gives a bound on the uncertainty of an observation of a landmark .

• Is an observed LM a LM in the database?
• Check if the observed LM lies within the area of uncertainty
• Can usually be shown in a graphic (error ellipse)