Ridgy software and algorithms

Extension to the observation model

The new landmark design and recognition gives the distance d to the landmark, the angle θ between the robot and the center of the landmark and the angle $\tilde{\alpha }$ between a line l, from the center of the robot to the center of the landmark, and the landmark plane normal vector.
Using the fact that the height h of an observed landmark is constant for any angle of the landmark plane (for a constant distance d), and the width w variates with the angle, the observed angle $\tilde{\alpha }$ of the landmark plane can be calculated as: $$\tilde{\alpha }=\arccos \frac{w}{h}$$