Re: [Bayes++] "observe" and "observe_innovation" for EKF

[Fredrik O. <fre...@id...>]

I believe you're right in your assumptions about "observe" and 
"observe_innovation".

It you look into the sourcecode for EKF (bayesFlt.cpp), you'll discover that 
"observe" first calculates the innovation based on the difference between 
the actual and predicted measure, and then calls "observe_innovation" 
internally.

regards,
Fredrik Orderud
Ph.D student in Computer Science, NTNU

----- Original Message ----- 
From: "Nicola Bellotto" <nb...@es...>
To: <bay...@li...>
Sent: Saturday, October 22, 2005 7:24 PM
Subject: [Bayes++] "observe" and "observe_innovation" for EKF

> I've some doubt about the use of the two funtions "observe" and
> "observe_innovation". From what I've understood, they do the same job
> (correction step), but:
> - "observe" computes internally the innovation from the given real measure
> 'z';
> - "observe_innovation" needs the innovation 's' to be computed externally 
> and
> then passed as argument.
> Is that correct?