1. Explain the variable elimination in an oversimplified way. 2. Explain Fixed-lag smoothing by variable elimination. 3. Discuss a IROS2018 best paper candidate. 4. Some discussion of ISAM2, Semidefinite Programming.
Category: theory
The Covariance of Optimization Problems
1. Show the duality between optimization and probability. 2. Derive the covariance for optimization problems. 3. Implement the covariance for GPS and Lucas-Kanade tracker.