Step 3 New landmarks

Parent: Basic EKF for SLAM

Source: SLAM for dummies

Overview

• Landmarks that are new are not dealt with until step 3.
  • Delaying the incorporation of new landmarks until the will decrease the computation cost needed for this step
  • the covariance matrix, P, and the system state, X, are smaller by then.
• Update state vector x and covariance matrix P with new landmarks

1. Add new landmark to state vector X
2. Add new row and column to covariance matrix
   1. Covariance for new landmark
   2. Robot-landmark covariance