we have just submitted our paper to our advisers for the pcsc. it is an annual conference hosted by the computing society of the philippines. our advisers will choose which papers will be submitted to the conference. since we haven’t produced results for the em simulation and all 3 implementations, we just revised our previous paper based on suggestions within our group and ma’am chris.
go cvmig! 
we are currently on our em slam simulation as well as our ekf slam implementation (again). below is a screenshot of the latest developments on the ekf implementation:
there are still problems with this current implementation. we will post our updates as soon as possible, including the map produced.
We were able to meet with sir mong before christmas vacation. We talked to him about our ekf slam c implementation. We were already finished with the code but we encountered certain problems. The matrix used in our ekf slam implementation grows exponentially with time and thus reaches a point where our machines (desktop and laptop) cannot continue and thus interrupt the program on its own. If the code cannot be run on our PCs, then how can we run it on a linux OS with 16MB memory?
another problem is that our implementation does not use an occupancy grid but a feature-based map. Unlike the occupancy grid which makes use of a matrix, a feature-based map uses a column vector to store the map of its environment.
knowing this, we were told to fix our code to implement occupancy grid mapping.
good luck naman. >.<
