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Measurement 的代码
bot_d2h_dx2.m
% Hessian of the measurement function in BOT-demo.
% Copyright (C) 2007 Jouni Hartikainen
%
% This software is distributed under the GNU General Public
% Licence (version 2 or later); please refer t
bbukf.m
function [x,P]=ukf(fstate,x,P,hmeas,z,Q,R)
% UKF Unscented Kalman Filter for nonlinear dynamic systems
% [x, P] = ukf(f,x,P,h,z,Q,R) returns state estimate, x and state covariance, P
% for nonli
class.cpp
//---------------------------------------------------------------------------
#include
#include
#include "class.h"
#pragma hdrstop
//****************************************
keyframe.h
// -*- c++ -*-
// Copyright 2008 Isis Innovation Limited
//
// This header declares the data structures to do with keyframes:
// structs KeyFrame, Level, Measurement, Candidate.
//
// A KeyFrame con
xmudm.m
% xmudm.m
% Scope: This MATLAB program tests the macros: mudm, mudm1 and mreast .
% Implementation of the discrete Kalman filter measurement updating
%
xqrupa.m
% xqrupa.m
% Scope: This MATLAB program tests the updating algorithm [1] for Q-R
% factorization of the modified measurement matrix when a new
%
lgslam_da.m
% LGSLAM_DA - Maximum-likelihood data association for
% linear-Gaussian SLAM filters with gating.
%
% We build an m x n cost matrix L such that L(i, j) is the smallest
% confidence in