yes i can use the coordinates ( from sensor/LiDAR ) of first two frame to find the velocity but that is again NOT completely reliable sourcewhat should i do???I did not understand what exactly is H matrix. 47 It can be derived using the previous theory via an augmented state, and the main equation of the filter is the following:
where:
If the estimation error covariance is defined so that
then we have that the improvement on the estimation of
x
t
i
{\displaystyle \mathbf {x} _{t-i}}
read is given by:
The optimal fixed-interval smoother provides the optimal estimate helpful site
x
k
n
{\displaystyle {\hat {\mathbf {x} }}_{k\mid n}}
(
k
n
{\displaystyle kn}
) using the measurements from a fixed interval
1
{\displaystyle \mathbf {z} _{1}}
to
z
n
{\displaystyle \mathbf {z} _{n}}
. .