05. Correspondence

Correspondence

Now that you've learned the two key features of the SLAM problem, let's summarize them:

1-Forms

  • Online SLAM: Robot estimates its current pose and the map using current measurements and controls.

  • Full SLAM: Robot estimates its entire trajectory and the map using all the measurements and controls.

2- Nature

  • Continuous: Robot continuously senses its pose and the location of the objects.
  • Discrete: Robot has to identify if a relation exists between any newly detected and previously detected objects.

For the Full SLAM problem, what's the posterior under unknown correspondences ?
SOLUTION: x1:t, m, c1:t