Process

Update step

You might say: measurement update, correct

The update step combines a predicted belief with a measurement likelihood; in the Gaussian linear case, the Kalman gain sets the correction.

What it does

Pulls the estimate toward sensor evidence and normally reduces its uncertainty.

Ask

Are outliers rejected before a measurement can corrupt the estimate?

Sources

1. Timothy D. Barfoot, State Estimation for Robotics, Ch. 3 §3.3.3Next, for the correction step, we express the joint density of our state and latest measurement, at time k, as a Gaussian.

Use it on your project

teardown-apply: hold "Update step" (update-step) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal