singles.m

用EKF

function H = SINGLES (prediction, observations, compatibility)
%-------------------------------------------------------
% University of Zaragoza
% Centro Politecnico Superior
% Robotics and Real Time Group
% Authors:  J. Neira, J. Tardos
% Date   :  7-2006
%-------------------------------------------------------
%-------------------------------------------------------
global chi2;
global configuration;

H = zeros(1, observations.m);

% You have observations.m observations, and prediction.n
% predicted features.
%
% For every observation i, check whether it has only one neighbour,
% feature, and whether that feature j  has only that one neighbour
% observation i.  If so, H(i) = j.
%
% You will need to check the compatibility.ic matrix
% for this:
%
% compatibility.ic(i,j) = 1 if observation i is a neighbour of
% feature j.

            
configuration.name = 'SINGLES';