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!


1 Answer 1


Seems like you had same question as me.

I wrote my own answer here which will be the answer to your question 0, 1, 2.


Not the answer you're looking for? Browse other questions tagged or ask your own question.