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Bug in motion model #2

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fanwang1999 opened this issue Mar 15, 2017 · 0 comments
Open

Bug in motion model #2

fanwang1999 opened this issue Mar 15, 2017 · 0 comments

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@fanwang1999
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Hi, Shuhui
You mentioned the performance is worse than the Matlab version. The reason might be a bug in motion model. In FastSLAM2_Thread::predict(), sin(G/WB) should be corrected to sin(G)/WB. The bug is inherited from yglee"s implementation.

Fan
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@fanwang1999