Measurement model

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Source: SLAM for Dummies Backlinks:  EKF matrices/vectors

Estimate of the range and bearing (from landmark) in  Step 2: Re-observation

unknown_filename.png

x, y, theta - current position estimate lambdax, y - landmark position

Jacobian H w.r.t. x, y, theta (here for regular EKF, not for extended) unknown_filename.1.png

In SLAM we need additional values for the landmarks here for landmark number two in extended EKF unknown_filename.2.png

  • Upper row is for information, not part of matrix
  • First three columns are regular H
  • Landmarks don’t have any rotation