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agv_pro_ros2/rtabmap/archive/2010-LoopClosure/Bayes/adjustLikelihood.m
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2025-07-14 11:34:38 +08:00

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Matlab

function LN = adjustLikelihood(L)
%ADJUSTLIKELIHOOD Adjust the likelihood with std dev and mean.
% LN = adjustLikelihood(L)
%
% L the likelihood (m,1)
% LN the likelihood normalized (m,1)
m = mean(L); % Calcul mean
s = std(L); % Calcul std dev
LN = zeros(size(L));
for i=1:length(L)
if L(i) > m + s
LN(i) = (L(i)-s)/m;
else
LN(i) = 1;
end
end