Concurrent filtering and smoothing

@article{Kaess2012ConcurrentFA,
  title={Concurrent filtering and smoothing},
  author={Michael Kaess and Stephen Williams and Vadim Indelman and Richard Roberts and John J. Leonard and Frank Dellaert},
  journal={2012 15th International Conference on Information Fusion},
  year={2012},
  pages={1300-1307}
}
This paper presents a novel algorithm for integrating real-time filtering of navigation data with full map/trajectory smoothing. Unlike conventional mapping strategies, the result of loop closures within the smoother serve to correct the real-time navigation solution in addition to the map. This solution views filtering and smoothing as different operations applied within a single graphical model known as a Bayes tree. By maintaining all information within a single graph, the optimal linear… CONTINUE READING
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