Mapping with Known Poses

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What are the inputs and outputs to the Mapping with Known Poses problem?

Inputs : Poses + Measurements + Controls, Output : Map

Inputs : Map + Measurements, Output : Pose

Inputs : Controls + Measurements, Outputs : Map + Poses

Inputs : Poses + Measurements, Output : Map

SOLUTION:

**Inputs**: Poses + Measurements, **Output**: Map