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The referenced paper appears to be talking mainly about "mobile devices" (i.e. phones), not mobile robots. I believe there are simply physical limitations to using something like LIDAR on a phone. When holding a small device in your hand and up against your head, most of the device is covered, so optical technologies won't work well. That is why ...


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TL;DR Nope! You don't really need Kalman filtering in this context! To perform outliers rejection, there are other techniques that you can apply successfully and more easily without the bother of dealing with the Kalman filter's requirements. Kalman filtering can be demonstrated to be the optimal stochastic filter when we have: a linear model of our ...


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