Adapting this for single-measurement cases

[cherriesandwine]

Hi, I am new to SLAM and interested in seeing how this performs when only one measurement is available, for example, bearing-only. I am finding it difficult to adapt the existing code for this case; I tried the following:

• reducing H to a 2x1 matrix, with bearing only measurements
• reducing .P to a single value
• reducing R to single value

However, I am running into errors where the matrix Q becomes invertible.

[xiaolangWJ]

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[randvoorhies]

Hi @cherriesandwine unfortunately I haven't really thought about this code in the 10 years since I wrote it, so I'm not going to be a ton of help here. Want to post your code somewhere so others can take a look? I don't even have a copy of Matlab at this point, but perhaps Octave will work.