Get a better understanding of sampleProposal

matzipan / slam

SLAM dissertation project

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Get a better understanding of sampleProposal #15

Closed matzipan closed 7 years ago

matzipan commented 7 years ago

[x] What determines the size of the matrices involved?
[x] Dump and analyze values for matrices

matzipan commented 7 years ago

z and idf's size is determined by the number of landmarks observed particle.xv always has fixed size 3 particle.Pv always has fixed size 3*3

matzipan commented 7 years ago

55% of the algorithm run time is spent in sampleProposal, 20% of the algorithm run time is spent in its callee likelihoodGivenXv (almost all time of this is in gaussEvaluate -> computeJacobians).