Single loop around the usual cubicles with lot of texture added on. Not exactly a rectangular path. (red-uvd,grn-odo,blu-lEKF)

klt_6ftrs: Good results with rippleSLAM v0.7. loop closure decreases the conservativeness and a ripple at 200th pose improves accuracy. Laser outline shows good consistency however laserEKF still has issues.

Params[ U=diag([0.05^2 (3*pi/180)^2]); zu=1.34; zv=1.53; zd=1.65; camera_offset_X = -0.02; -B/2in uvd & +B/2 in fullslam]

_2 - In the kitchen. small well controlled loop CCW 2 loops

_3 - "" CW 2 loops

_4 - Near Anya's room

U=diag([0.05^2 (5*pi/180)^2]);

zu=2.68; zv=3.06; zd=1.30;

It is often useful to use a graphical format to view the distribution of the nonzero elements within a sparse matrix. The MATLAB spy function produces a template view of the sparsity structure, where each point on the graph represents the location of a nonzero array element.

For example,

spy(west0479) 

Missing observation causes

Warning: Matrix is close to singular or badly scaled.
         Results may be inaccurate. RCOND = 1.062233e-37.

_1.A slow data set (v=0.1/w=0.1) with largely modified environ.

uvdslam() didnt do well.

_2. Hit the partition on the final leg

_3. ran out of power before closing the loop

Kinematic constraints are classically

divided into two classes: constraints

that can be integrated to yield constraints

on the position variables,

called holonomic constraints, and constraints

for which this integration is

not possible, called nonholonomic constraints.

A typical example of a nonholonomic

constraint is a wheel rolling

vertically without slipping on a surface.

The constraint on the allowable velocity

(the point of contact of the wheel

with the surface cannot slip in all

directions) cannot be integrated to

yield a constraint on the position of

the wheel. This nonintegrability is

intuitively clear, as illustrated by the

fact that an automobile can go anywhere

it pleases by suitable maneuvering.

(This example hints at the

intimate relationship between nonholonomic

constraints and controllability.)

Loosely speaking, mechanical

systems with holonomic constraints

can be reduced to lower dimensional

mechanical systems without constraints;

for systems with nonholonomic

constraints, this reduction is not

possible, and as a result some distinguishing

features arise

Code in Laptop /home/dhera/_Aus2005/C++/surf…

Libraries in .SURF-V1.0.9

download www.vision.ee.ethz.ch/~surf

offlinecv3d_bb_surf: SURF with the casvision front end.

 Initial results from surf_test and surf_match.

both cubicle simulations and the small circle shows bias if the sensors were assumed slightly out of alignment.

Noticed when running simulation results on fullslam3() and rippleSLAM() the B/2 correction usually used caused large bias resulting in inconsistency.