I read Probabilistic Robotics by Sebastian THRUN (online version). I also read http://ais.informatik.uni-freiburg.de/teaching/ws12/mapping/pdf/slam04-ekf-slam.pdf
Question1 : What will be the dimension of Matrix $F(x,j)$ below? As per book its dimension is $(3N+3)*5$. So if I have 10 landmark the dimension will be $33*5$. Meaning 33 Rows and 5 column. But as per picture No: 1 $F(x,j)$ has 6 Rows. This is confusing for me.
Question 2: Both references describe the same approach Extended Kalman filter slam with known correspondence, the only difference between them is the equation to build the matrix $H_i$ (see below, picture 2 and Picture 3).
Now after reading those books I am confused which one is error less?
Helpful discussion appreciated.