10.13.26
360°
Corners found 0 of 8
Walls mapped 0%
Position error 0
z = [r, φ] = [ √((mₓ − x)² + (m_y − y)²), atan2(m_y − y, mₓ − x) − θ ]
x̂ ← x̂ + K (z − h(x̂, m)), K = σ² / (σ² + R²)
Waiting for the first corner…