JCBB with Fastslam 2d

[JadBatmobile]

It seems like data association is done using the RFS formulation in the fastslam2d sim currently.

Can a version of Fastslam2d be provided that uses JCBB?

[finostro]

Hello, We currently don't have plans to implement JCBB. Its probably a good idea though. We are more focused on improving the RFS based solutions. Thanks for the sugestion. Cheers Felipe 2018-08-16 16:42 GMT-03:00 JadBatmobile <notifications@github.com>:

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It seems like data association is done using the RFS formulation in the fastslam2d sim currently. Can a version of Fastslam2d be provided that uses JCBB? — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#4>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AFMZlPbZnC3g2s3RQEdqXYgok0ke5Gwtks5uRcsygaJpZM4WAdtU> .

[JadBatmobile]

thank you!

[JadBatmobile]

For using the RFS-SLAM implementation of FastSLAM 2d with range+bearing measurements and 2d Odometry (as done in fastslam2dSim), i am wondering the expecting range for the bearing and yaw measurments of the robot.

For the bearing measurments w.r.t to the sensor, am i doing 0->2*pi, or 0->pi (ccw) and 0->-pi (cw) (ROS style).

I hope that makes sense,
cheers