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Chapter 11
feature. Since the column is not a point, we must increase this area by the radius of
the column and collect all points that lay within it for further processing.
Feature position
window
Programmed
feature position
Uncertainty
Position estimate
Figure 11.4. Using position uncertainty to find a feature’s window
The feature position window gets even larger when we include the robot’s heading
uncertainty as demonstrated in Figure 11.5.
Feature position
window
Programmed
feature position
Heading Uncertainty
Uncertainty
Position estimate
Figure 11.5. Feature window compensated for heading uncertainty
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