Derivation and Implementation of a Full 6D EKF-based Solution to Range-Bearing SLAM

Technical report: “Derivation and Implementation of a Full 6D EKF-based Solution to Range-Bearing SLAM”Jose-Luis Blanco, Perception and Mobile Robots Research Group, University of Malaga, Spain. (new version with corrected Jacobians, soon!, old version: PDF)
This document describes the theory behind the application kf-slam.

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