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The information matrix is just the inverse of the covariance matrix. I recommend you read the page I linked, or just google covariance matrix. Essentially it contains how certain you are in your measurements. (The lower the number the less uncertain you are). As an example: The translation matrix between nodes(ignoring rotation for now). Your covariance ...


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ZeroSim is built with Unity. It's not necessarily "easy" but arguably easier then Gazebo. Definitely creating and iterating environments in ZeroSim is much easier then Gazebo. Disclosure: I am a ZeroSim developer.


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