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1 vote

### Derivation of EKF slam landmark initialization

You simply expand the size of your state vector and covariance matrix. Lets say our current state is simply a 2D robot pose. $$s = \begin{bmatrix} x \\ y \\ \theta \end{bmatrix}$$ which will have a ...
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### Incorporating motion model in Graph Slam and Bundle adjustment

Would say you can generally do 2 different ways of incorporating the information. Compute the odometry. Simply compute how far your robot is supposed to move in between frames. Either using your ...
• 1,561

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