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Why is the latest covariance used in Mahalanobis gate? #2904
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IshitaTakeshi
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@kminoda @TakaHoribe Do you know the reason of this? |
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In the Mahalanobis gate, the latest covariance is used to compute the distance, while the vector is obtained from the time
delay_stepWhy is the latest covariance used instead of the covariance at time
delay_step?https://github.com/autowarefoundation/autoware.universe/blob/main/localization/ekf_localizer/src/ekf_localizer.cpp#L497
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