10. Information Matrix and Vector
Information Matrix and Information Vector
Summary
- A motion constraint ties together two poses,
- A measurement constraint ties together the feature and the pose from which is was measured,
- Each operation updates 4 cells in the information matrix and 2 cells in the information vector,
- All other cells remain 0. Matrix is called ‘sparse’ due to large number of zero elements,
- Sparsity is a very helpful property for solving the system of equations.