Adapting this for single-measurement cases

randvoorhies / SimpleSLAM

A simple SLAM implementation for education

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Adapting this for single-measurement cases #2

Open cherriesandwine opened 2 years ago

cherriesandwine commented 2 years ago

Hi, I am new to SLAM and interested in seeing how this performs when only one measurement is available, for example, bearing-only. I am finding it difficult to adapt the existing code for this case; I tried the following:

reducing H to a 2x1 matrix, with bearing only measurements
reducing .P to a single value
reducing R to single value

However, I am running into errors where the matrix Q becomes invertible.

xiaolangWJ commented 2 years ago

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randvoorhies commented 2 years ago

Hi @cherriesandwine unfortunately I haven't really thought about this code in the 10 years since I wrote it, so I'm not going to be a ton of help here. Want to post your code somewhere so others can take a look? I don't even have a copy of Matlab at this point, but perhaps Octave will work.