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i want to implement an UKF Filter for SLAM but i cant seem to wrap around the update step.

When computing the innovation matrices and everything, do i need to compute the sigma points in respect to every landmark in the state vector or can i just select the few ones that actually got observed in the timestep? I know that in the EKF the specific landmark gets picked and then gets projected into the higher dimensions later on. How is it done in UKF?

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