03. Full SLAM

Full SLAM Problem

• At time t-1, the robot will estimate the robot pose x_t-1 and map m, given the measurements **z_t-1 **and controls u_t-1.
• At time t, the robot will estimate the entire path x_t-1:t and map m, given all the measurements z_t-1:t and controls u_t-1:t.
• At time t+1, the robot will estimate the entire path x_t-1:t+1 and map m, given all the measurements z_t-1:t+1 and controls u_t-1:t+1.

This problem can be modeled with the probability equation p(x_1:t , m | z_1:t u_1:t), where we solve the posterior represented by the robot's trajectory x_1:t and the map m given all the measurements z_1:t and controls u_1:t. Thus, with full SLAM problem we estimate all the variables that occur throughout the robot travel time.