From 2f84788c2aaf58e4541d760a0a5df0abb42e7ae8 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Fri, 9 Aug 2013 19:03:38 +0000
Subject: [PATCH] Adjusted sigma

---
 matlab/gtsam_examples/IMUKittiExampleSimple.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/matlab/gtsam_examples/IMUKittiExampleSimple.m b/matlab/gtsam_examples/IMUKittiExampleSimple.m
index 127c59d98..f3940a4b4 100644
--- a/matlab/gtsam_examples/IMUKittiExampleSimple.m
+++ b/matlab/gtsam_examples/IMUKittiExampleSimple.m
@@ -51,7 +51,7 @@ newValues.insert(symbol('b',1), currentBias);
 
 sigma_init_x = noiseModel.Diagonal.Precisions([0;0;0; 1;1;1]);
 sigma_init_v = noiseModel.Isotropic.Sigma(3, 1000.0);
-sigma_init_b = noiseModel.Isotropic.Sigma(6, 100000.0);
+sigma_init_b = noiseModel.Isotropic.Sigma(6, 0.01);
 
 newFactors.add(PriorFactorPose3(symbol('x',firstGPSPose), currentPoseGlobal, sigma_init_x));
 newFactors.add(PriorFactorLieVector(symbol('v',firstGPSPose), currentVelocityGlobal, sigma_init_v));