{"action":"created","issue":{"url":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/issues/11","repository_url":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics","labels_url":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/issues/11/labels{/name}","comments_url":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/issues/11/comments","events_url":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/issues/11/events","html_url":"https://github.com/WaterlooRobotics/mobilerobotics/issues/11","id":132890532,"number":11,"title":"EKF Localization","user":{"login":"stevenwaslander","id":10283267,"avatar_url":"https://avatars.githubusercontent.com/u/10283267?v=3","gravatar_id":"","url":"https://api.github.com/users/stevenwaslander","html_url":"https://github.com/stevenwaslander","followers_url":"https://api.github.com/users/stevenwaslander/followers","following_url":"https://api.github.com/users/stevenwaslander/following{/other_user}","gists_url":"https://api.github.com/users/stevenwaslander/gists{/gist_id}","starred_url":"https://api.github.com/users/stevenwaslander/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/stevenwaslander/subscriptions","organizations_url":"https://api.github.com/users/stevenwaslander/orgs","repos_url":"https://api.github.com/users/stevenwaslander/repos","events_url":"https://api.github.com/users/stevenwaslander/events{/privacy}","received_events_url":"https://api.github.com/users/stevenwaslander/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"rhyse-me780","id":17183929,"avatar_url":"https://avatars.githubusercontent.com/u/17183929?v=3","gravatar_id":"","url":"https://api.github.com/users/rhyse-me780","html_url":"https://github.com/rhyse-me780","followers_url":"https://api.github.com/users/rhyse-me780/followers","following_url":"https://api.github.com/users/rhyse-me780/following{/other_user}","gists_url":"https://api.github.com/users/rhyse-me780/gists{/gist_id}","starred_url":"https://api.github.com/users/rhyse-me780/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rhyse-me780/subscriptions","organizations_url":"https://api.github.com/users/rhyse-me780/orgs","repos_url":"https://api.github.com/users/rhyse-me780/repos","events_url":"https://api.github.com/users/rhyse-me780/events{/privacy}","received_events_url":"https://api.github.com/users/rhyse-me780/received_events","type":"User","site_admin":false},"milestone":null,"comments":8,"created_at":"2016-02-11T05:09:35Z","updated_at":"2016-03-04T23:50:31Z","closed_at":null,"body":"Working with EKF issues owner, move feature selection methods to a good folder in environments, then redo examples to use EKF function, and motion and measurement models.  Test multiple configurations."},"comment":{"url":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/issues/comments/192527074","html_url":"https://github.com/WaterlooRobotics/mobilerobotics/issues/11#issuecomment-192527074","issue_url":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/issues/11","id":192527074,"user":{"login":"rhyse-me780","id":17183929,"avatar_url":"https://avatars.githubusercontent.com/u/17183929?v=3","gravatar_id":"","url":"https://api.github.com/users/rhyse-me780","html_url":"https://github.com/rhyse-me780","followers_url":"https://api.github.com/users/rhyse-me780/followers","following_url":"https://api.github.com/users/rhyse-me780/following{/other_user}","gists_url":"https://api.github.com/users/rhyse-me780/gists{/gist_id}","starred_url":"https://api.github.com/users/rhyse-me780/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rhyse-me780/subscriptions","organizations_url":"https://api.github.com/users/rhyse-me780/orgs","repos_url":"https://api.github.com/users/rhyse-me780/repos","events_url":"https://api.github.com/users/rhyse-me780/events{/privacy}","received_events_url":"https://api.github.com/users/rhyse-me780/received_events","type":"User","site_admin":false},"created_at":"2016-03-04T23:50:31Z","updated_at":"2016-03-04T23:50:31Z","body":"@stevenwaslander One thing I noticed when working on the code is that the localization is only done with respect to 1 map feature, even when multiple features are in view. Would you be interested in implementing some sort of code which is able to better refine the state prediction if multiple features are in view?"}}