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jhengyilin avatar jhengyilin commented on August 16, 2024

New findings......

Is the Jacobain adding a negate sign, i.e. -1.0 because of the reason stating in book ch7.7.3 (page 187) such that the error is defined as "observation - prediction" rather than "prediction - observation".

If the above statement is true, it will self-explained the issue I suppose in the previous comment.

Thanks for any relevant help in advance!

from slambook2.

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