stratified_random.m

fastslam 又称为rao-blackwillisd slam方法

function s = stratified_random(N)
%function s = stratified_random(N)
%
% Generate N uniform-random numbers stratified within interval (0,1).
% The set of samples, s, are in ascending order.
%
% Tim Bailey 2003.

k = 1/N;
di = (k/2):k:(1-k/2); % deterministic intervals
s = di + rand(1,N) * k - (k/2); % dither within interval