I have an EKF SLAM Algorithm which tries to estimate the robots position (X,Y,Theta) + the X,Y coordinates of several landmarks. Like in the posted algorithm i have a range/bearing sensor. I understand every step until line 19. Why is there no conversion between my measurement and my mean? The same thing for line 20. Shouldnt be there a conversion so the "units" fit? "z(t)" is a range and bearing in my model (2 row vector). mu(t) is a 3+2N vector. Can somebody explain why this should still work?

EKF SLAM Algorithm

  • $\begingroup$ Multiplying by K serves as the "unit conversion". $\endgroup$ – Alex Feb 14 at 20:22
  • $\begingroup$ Ok, Thank you for your fast respond! I think i will have to have look on K again and how it actually looks. $\endgroup$ – muller135 Feb 15 at 8:53

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