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AtsushiSakai / PythonRobotics

Python sample codes for robotics algorithms.
https://atsushisakai.github.io/PythonRobotics/
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Wrong covariance dimension in particle filter #997

Closed Chris7462 closed 6 months ago

Chris7462 commented 7 months ago

https://github.com/AtsushiSakai/PythonRobotics/blob/f8b340be53ebb6ed4b6b0d2579394b58fe8074af/Localization/particle_filter/particle_filter.py#L213

https://github.com/AtsushiSakai/PythonRobotics/blob/f8b340be53ebb6ed4b6b0d2579394b58fe8074af/Localization/particle_filter/particle_filter.py#L99

At line 213, the state vector is defined as four-dimensional. However, in the cal_covariance function, the dimension has been changed to 3x3 matrix.