02. Online SLAM

Online SLAM Problem

• At time t-1, the robot will estimate its current pose x_t-1 and the map m given its current measurements z_t-1 and controls u_t-1.
• At time t, the robot will estimate its new pose x_t and the map m given only its current measurements z_t and controls u_t.
• At time t+1, the robot will estimate its current pose x_t+1 and the map m given the measurements z_t+1 and controls u_t+1.

This problem can be modeled with the probability equation p(x_t , m | z_1:t , u_1:t) where we solve the posterior represented by the instantaneous pose x_t and the map m given the measurements z_1:t and controls u_1:t. Thus, with online SLAM we estimate variables that occur at time t only.