2
$\begingroup$

I am trying to implement Graph slam. I have some doubts regrading implementation. I attached a picture to clarify my doubt.

[enter image description here

enter image description here

I have a doubt in line number 2. It show omega have a scalar value 0. But at line 3 it show omega is a Matrix.

Next doubt at line 7. In this line omega which is a 3*3 matrix is add with a 6*6 matrix. As per my knowledge it is impossible.

I share the link of the paper where page no: 411-412 define this algorithm. Link of the paper is http://robots.stanford.edu/papers/thrun.graphslam.pdf.

If any one working on it please share your knowledge.

Improve this question
$\endgroup$

1 Answer 1

Reset to default
1
$\begingroup$

Often we use $0$ to represent the all-zeros matrix, so the instruction to set $\Omega = 0$ might mean to set it to the all-zeros matrix (with a zero in every entry). You'll have to figure out from context whether that seems correct.

Improve this answer
$\endgroup$
1
  • $\begingroup$ That is not return anywhere that omega has a scalar value zero or it is a 3*3 matrix. $\endgroup$
    – Encipher
    Commented Jul 14, 2018 at 14:05

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.