%v11,v12,v21,v22(input) : function values of at four corners of the box %xl(input): left x coordinate of the box %xr(input): right x coordinate of the box %yt(input): top y coordinate of the box ...
% using SE(3). The process model is simply X_k+1 = X_k * exp(U_k + w_k) where % X_k is in SE(3) and U_k and w_k (zero mean white Gaussian noise, N(0,Q_k)) % are defined in the Lie algebra se(3). We ...
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