Fast slam - V1 and V2 - Githubissues

WaterlooRobotics / mobilerobotics

Matlab and Robot code for MTE 544: Autonomous Mobile Robotics at the University of Waterloo

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Fast slam - V1 and V2 #70

Closed idlebear closed 6 years ago

idlebear commented 6 years ago

Here's the pull request -- still not sure how to combine multiple feature beliefs on the particle's mu. Tried a couple things things:

sequentially - diverged almost immediately
weighted by probability calculated by mvnpdf( MU_pred, MU_meas, XtCov) for each feature -- diverged quite nicely

I'll keep looking for the answer, but here's what I have for now. There's a new lecture sample, and all the code is in 06-mapping/fastSLAM_alt.

idlebear commented 6 years ago

No worries -- I'll fix and resubmit