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One thing I don't understand in EKF SLAM is how landmarks interact with each other. From my understanding this interaction only happens during a loop closing event.

When a loop closing occurs, how do you use your new observation of a past landmark to update the prior landmark positions? I understand that your covariance reduces WRT your repeatedly observed landmark but I don't understand how this information is sent back to other landmarks to improve the graph. Can someone explain this to me?

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