Yu Xiaoxian comments

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                                            Yu Xiaoxian

Why the pdf of ch7 is so large?

I see. Another problem confusing me is that I cannot print this pdf file. When I try to print it with Adobe Reader, I encounter with an ERROR.

What if the covariance matrix is singular?

Your replay is beyond my point. The probability mass center explain the covariance matrix very clear, thanks. When I use random module of Python to sample from normal distribution, I...

The issue of Remaining work items in queue

This tips in cartographer_ros about low lantency of Global SLAM may helped. [Tuning methodology](https://google-cartographer-ros.readthedocs.io/en/latest/tuning.html#low-latency)

The issue of Remaining work items in queue

How did the problem get solved, would you like to share your experience?

CH4 1.(a) why the covariance matrix is not allowed to update?

> I think the covariance matrix Σt−1 should be updated at each time t. > > p(xt|ut,xt−1)∼N(Atxt−1,AtΣt−1AtT+R) > > But your update is doing like below: > > p(xt|ut,xt−1)∼N(Atxt−1,AtΣ0AtT+R) Sorry...