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 ?

x _1:t , m

z _1:t , u _1:t

x _t , m, c _1:t

x _1:t , m, c _1:t

x _1:t , m, c _t

x _t , m, c _t

SOLUTION:

x _1:t , m, c _1:t