Short articles on a variety of topics.

### Robotics

• EKF covariance matrix update for a new landmark (June 2018) - In the formulation for EKF SLAM (RVC chapter 6, appendix H) there is a special case when another landmark is ...
• Sparse Pose Adjustment (January 2017) - The IROS2010 paper "Efficient Sparse Pose Adjustment for 2D Mapping" by Kurt Konolige, Giorgio Grisetti, Rainer Kümmerle, Wolfram Burgard, Benson Limketkai, ...

### General

• Solving trigonometric equations (July 2018) - Equations of the form $$a \cos \theta + b\sin \theta = c$$ arise frequently when analytically solving robot kinematic equations. ...
• Hacking graphviz/dot to place xlabels (December 2017) - dot is a wonderful tool and the node xlabel attribute allows for an "external label" in addition to the normal ...
• What’s in a MATLAB .mltbx file (February 2017) - Since 2015 MATLAB has supported the ability to distribute a Toolbox with all the files, documentation and settings packaged up in a ...
• Precision-recall curves (January 2017) - Precision recall curves are commonly used in robotics to describe the performance of localisers and classifiers.  This short article describes ...
• Descarte’s bones (January 2015) - Rene Descartes triggered a revolution in thinking, Cartesianism, and attracted many followers and he became a personage. His thinking was ...