nwang57 / fastslam Goto Github PK

Hi I have tried extending your code to 3 dimension coordinates.But the determinant of covariance is negative and it affects the whole weight calculations changing them to NaN

Jacobians : Predicted is same [[distance],[angle]]
Considering the angle between two vectors can be expressed as R**2 cos(angle) = A.B
I was able to calculate the jacobians as

feature jacobian : [ (dx/distance), (dy/distance), (dz/distance), feature_alpha, feature_beta, feature_gamma]

commonmultiple   = (-1 / (sqrt(1-pow(costheta,2) + 0.00000001)));
feature_alpha        = (particlePos[0] * commonmultiple) / (costhetadenom)
feature_beta         = (particlePos[1] * commonmultiple) / (costhetadenom)
feature_gamma    = (particlePos[2] * commonmultiple) / (costhetadenom) 

Can you help me where i'm going wrong.Are my feature jacobian calculations wrong?

pip install -r requirements.txt
Defaulting to user installation because normal site-packages is not writeable
ERROR: Invalid requirement: 'scipy==(1.18.1)' (from line 2 of requirements.txt)

sudo pip install -r requirements.txt

WARNING: The directory '/home/user/.cache/pip' or its parent directory is not owned or is not writable by the current user. The cache has been disabled. Check the permissions and owner of that directory. If executing pip with sudo, you may want sudo's -H flag.

ERROR: Invalid requirement: 'scipy==(1.18.1)' (from line 2 of requirements.txt)

Hello,
Really cool project :)
Got a question regarding the performance.
I played around with changing the position of the landmarks. I mainly noticed that the fewer Landmarks there are, the worse the performance gets.
Also, was wondering why the performance of the algorithm is very bad when I only make the robot move forward.
I can give a more in-depth explanation with example if you'd like.
Regards.

Example of robot moving forward

Hi, I am using your code to solve a localisation problem, is there way I can contact you and ask you a couple of questions? Thanks!