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

[Nicola B. <nb...@es...>]

Fredrik,
thanks for you answer. Glad to see I got a reply, unfortunately this 
mailing-list seems to be deserted...
What are you using Bayes++ for? Sometimes I'd like to share my 
experiences/doubts with someone else who's using it.
Cheers
Nicola

On Monday 24 Oct 2005 02:00, you wrote:
> 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?

-- 
------------------------------------------
Nicola Bellotto
University of Essex
Department of Computer Science
Wivenhoe Park
Colchester CO4 3SQ
United Kingdom

Room: 1N1.2.8
Tel. +44 (0)1206 874094
E-Mail: nb...@es...
URL: http://privatewww.essex.ac.uk/~nbello
------------------------------------------