Motion buffer corner case
That's the outcome of a discussion between @jsola and Elena (intern at pal). It seems that if the motion buffer size is less than 2 then the covariance matrix is singular, hence the need for a little perturbation.
That's the outcome of a discussion between @jsola and Elena (intern at pal). It seems that if the motion buffer size is less than 2 then the covariance matrix is singular, hence the need for a little perturbation.