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. >.<
