I am trying to implement Graph Slam. For tutorial purpose I read the paper "The GraphSlam Algorithm with Application to Large-Scale Mapping of Urban Structures" by Sebastian Thrun. At the beginning of this paper in abstract portion there is a line which arise doubt. "It then reduces this
graph using variable elimination techniques, arriving at a lowerdimensional
problems that is then solved using conventional optimization
What is that variable elimination technique? Which variable they want to eliminate?
In the same paper "Table 3. Algorithm for Reducing the Size of the Information Representation of the Posterior in GraphSLAM".
What is the meaning of this algorithm? What kind of data we calculate here? Paper Link The GraphSLAM Algorithm
I am eagerly looking for the answer of those question because after read this paper it is very difficult to understand the theory of GraphSlam.