AtsushiSakai/PythonRobotics

Wrong covariance dimension in particle filter

Chris7462 opened this issue · 0 comments

Chris7462 commented

PythonRobotics/Localization/particle_filter/particle_filter.py

Line 213 in f8b340b

# State Vector [x y yaw v]'

PythonRobotics/Localization/particle_filter/particle_filter.py

Line 99 in f8b340b

cov = np.zeros((3, 3))

At line 213, the state vector is defined as four-dimensional. However, in the cal_covariance function, the dimension has been changed to 3x3 matrix.