I have several questions about the process of marginalization in SLAM algorithms:
0 - What are the mathematic intuition behind marginalization process
1 - I know marginalization of states or points is related with removing nodes from the graph and keeping the information they have, how this information is kept? I mean, how the information of the marginalized states are passed to the remaining state?
2 - Why in bundle adjustment, the points are set marginalized? (example of ORBSLAM implementation)
Thank you very much!