https://github.com/RomaTeng/EKF-SLAM-on-Manifold
Tip revision: 12d7d8d88c84161baed173e38d49dedb4adb2b96 authored by Teng Zhang on 26 February 2017, 15:09:17 UTC
Record my control paper
Record my control paper
Tip revision: 12d7d8d
config.m
% configuration
N_LANDMARKS = 300; % number of landmarks
ADD_NOISE = 1; % add noise or not to odometry and observation
% percentage of noise
SIGMA_ODOM = 0.01;
SIGMA_OBSV = 0.10;
ODOM_NOISE = 2*diag([0.05^2,0.05^2,0.05^2, 0.05^2,0.05^2,0.05^2]); % odometry noise cov matrix should be 6*6
OBSV_NOISE = 2*0.05^2*eye(3); % observation noise, assume RGB-D sensor and dx, dy, dz measurement
% sensor config FOV
MAX_DEGREE = 2*pi/3; % maximum field of view
MAX_RANGE = 25.0; % maximum range of the sensor