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shiftlab-nanodrone / sparse-gslam

Code for paper Efficient 2D Graph SLAM for Sparse Sensing
MIT License
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function updateJacobian #5

Open learnermxw opened 5 months ago

learnermxw commented 5 months ago

Hi, is the order bettwen J(0,4) and J(1,3) in function updateJacobian reversed?

hanzhi713 commented 5 months ago

I took a look and the jacobian is indeed wrong. I probably made a typo while tying in matlab. The correct jacobian should be image

and the jacobian in the current code is image