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Concurrent filtering and smoothing

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Academic year: 2021

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Figure 1. Smoother and filter combined in a single optimization problem and represented as a Bayes tree
Figure 2. (a) An example factor graph is shown with five state variables x i connected by inertial factors f i
Figure 3. (a) Filter operation marginalizes out unused variables, but select key states are retained for the smoother to allow for loop closings
Figure 4. A visualization of the simulated ground truth trajectory of an aerial vehicle
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