2
$\begingroup$

I have read in SLAM papers talk about marginalization. I am confused about how this process works, why you do it and how it differs from global smoothing.

In particular if you're interested in Windowed Smoothing I don't understand how marginalization is different than full bundle adjustment? If marginalization carries the full information from the prior states, then why do global bundle adjustment?

Improve this question
$\endgroup$
2
  • $\begingroup$ From my understanding, you remove older nodes, but introduce additional constraints in order to retain most of the information the nodes contained. Briefly speaking, this will make optimization faster in exchange for a little accuracy. Here's a more detailled answer robotics.stackexchange.com/a/15482/33402 $\endgroup$
    – Philip Z.
    Jun 26 at 8:00
  • $\begingroup$ Hi @PhilipZ. - I rejected your suggested edit as it seems to alter the meaning. I believe that the OP means If marginalization carries the full information from the prior states, then why [bother] do[ing] global bundle adjustment [as well]? and not the opposite which your edit would have implied. However, we both could be wrong - only the OP would actually know..! :-) $\endgroup$
    – Greenonline
    Jun 26 at 9:32

0

Reset to default

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge that you have read and understand our privacy policy and code of conduct.

Browse other questions tagged or ask your own question.